TP-Model Transformation-Based-Control Design Frameworks

"This book covers new aspects and frameworks of control, design, and optimization based on the TP model transformation and its various extensions. The author outlines the three main steps of polytopic and LMI based control design: 1) development of the qLPV state-space model, 2) generation of the polytopic model; and 3) application of LMI to derive controller and observer. He goes on to describe why literature has extensively studied LMI design, but has not focused much on the second step, in part because the generation and manipulation of the polytopic form was not tractable in many cases. The author then shows how the TP model transformation facilitates this second step and hence reveals new directions, leading to powerful design procedures and the formulation of new questions. The chapters of this book, and the complex dynamical control tasks which they cover, are organized so as to present and analyze the beneficial aspect of the family of approaches (control, design, and optimization). Additionally, the book aims to convey simple TP modeling; a new convex hull manipulation based possibilities for optimization; a general framework for stability analysis; standardized modeling and system description; relaxed and universal LMI based design framework; and a gateway to time-delayed systems" -- OhioLink Library Catalog Front Matter....Pages i-xxvi Front Matter....Pages 1-1 Basic Concepts....Pages 3-10 Algorithms of the TP Model Transformation....Pages 11-62 Front Matter....Pages 63-63 TP Model Transformation is a Gateway Between Identification and Design....Pages 65-67 TP Model Transformation Based Control Design Structure....Pages 69-71 General Stability Verification and Control Design....Pages 73-86 TP I Model Transformation for the Class of Non-qLPV Models....Pages 87-89 TP τ Model Transformation for Systems Including Time Delay....Pages 91-93 Front Matter....Pages 95-96 qLPV Model of the 3DoF Prototypical Aeroelastic Wing Section....Pages 97-101 TP Model Based Control Design....Pages 103-115 Convex Hull Manipulation Based Optimization....Pages 117-129 Complexity Manipulation Based Optimization....Pages 131-144 TP Model Manipulation Influences the Control Performance and the Feasibility of LMI Based Design....Pages 145-160 Front Matter....Pages 161-163 qLPV Model of the Dual Excenter Vibration System....Pages 165-170 Convex TP Model of the Dual Excenter Vibration System....Pages 171-178 Derivation of the Controller....Pages 179-184 Front Matter....Pages 185-185 Impedance Control for Force Reflecting Telemanipulation....Pages 187-194 Impedance Model with Varying Feedback Delay in TP Model Form....Pages 195-215 TP τ Transformation Based Control Design for Impedance Controlled Robot Gripper....Pages 217-230