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A general controller design framework using H8 and dynamic inversion for robust control in the presence of uncertainties and saturations
KTH, School of Electrical Engineering (EES), Automatic Control.
2012 (English)Independent thesis Advanced level (professional degree), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

This thesis deals with robust controller design using recently developed methods and tools. Starting from a nonlinear model, nonlinear dynamic inversion (NDI) is applied in order to linearize the system and deal with the varying parameters. Since the resulting closed-loop model lacks of good robustness properties, an H8 scheme is used in order to improve it, by using new Matlab© routines also allowing to x the structure and the order of the controller. Then a next step is to consider actuator saturations, which leads to a multi-objective anti-windup design. At the end the stability and the performance properties of the closedloop system in the presence of linear time-invariant (LTI) and linear time-varying (LTV) uncertainties are formally evaluated using -analysis based tools and integral quadratic constraints (IQCs). All the theory is briey exposed for each technique and is then applied on the control of the angle of attack for a simple aircraft longitudinal model. All this framework shows interesting and satisfying results which prove the eectiveness of H8-based methods and the progress that have been made in this eld.

Place, publisher, year, edition, pages
2012. , 47 p.
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
URN: urn:nbn:se:kth:diva-107401OAI: diva2:575805
Educational program
Master of Science in Engineering - Electrical Engineering
Available from: 2012-12-13 Created: 2012-12-11 Last updated: 2012-12-13Bibliographically approved

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XR-EE-RT _012-030_Jeremy Lesprier(1240 kB)405 downloads
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