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ABSTRACT
This paper presents a systematic control-oriented uncertainty modelling approach in the Linear Fractional Transformation (LFT) framework of a Multi-Input-Multi-Output (MIMO) mechanical system for designing an H∞ controller. A compact modelling structure has been formulated by considering the parametric uncertainties and disturbances to implement robust control law to achieve certain performance specifications. A popular mechanical system, namely, Two-Degree-of-Freedom (2DOF) Mass-Spring-Dashpot (MSD) dynamics system, which is highly oscillatory and implements in many classical control techniques have been considered as a candidate system to formulate proposed control-oriented LFT modelling framework and design H∞ controller to verify the effectiveness of the derived modelling structure in a real-time environment. This modelling methodology has been illustrated in the simulation environment and indicating satisfactory robust stability and performance margin of the designed H∞ controller. The proposed control strategy is compared with the standard Model Reference Adaptive Control (MRAC) law to express the effectiveness of the controller.
Disclosure statement
No potential conflict of interest was reported by the author(s).
Additional information
Notes on contributors
Tamal Roy
Tamal Roy received his Bachelor’s degree in Electrical Engineering from the West Bengal University of Technology, Kolkata, 2005. He received his Master in Mechatronics Engineering from the National Institute of Technical Teachers Training and Research, Kolkata in 2008 and completed his Ph.D. from Jadavpur University in 2016. In 2008, he joined the Department of Electrical Engineering at Hooghly Engineering and Technology College as a Lecturer. Since 2011, he has been working as an Assistant Professor in the Electrical Engineering Department of MCKV Institute of Engineering and presently is working as Head of the Department. His current research interests include adaptive control, uncertainty modelling, and robust control of non-linear systems.
Mita Pal
Mita Pal received her B.E. degree in Electrical Engineering from Bengal Engineering College under Calcutta University, Master in Control System Engineering from Jadavpur University and now pursuing Ph.D. from Jadavpur University. She worked as faculty at different Institutions, i.e. Narula Institute of Technology, Calcutta. Institute of Engineering Management, Swami Vivekananda Institute of Science and Technology. Her research interests include adaptive control, intelligent control, and robust control.
Ranjit Kumar Barai
Ranjit Kumar Barai received his Bachelor of Electrical Engineering and Master of Electrical Engineering from Jadavpur University, Kolkata, India in 1993 and 1995, respectively. He has worked in the power industry from 1995 to 1998. He then joined Jadavpur University as a faculty of the Department of Electrical Engineering. In 2003, he was awarded the Monbukagakusho Scholarship from the Government of Japan. He was awarded his PhD in 2007 in Artificial Systems Science with specialisation in mechanical and electronic systems from the Graduate School of Science and Technology, Chiba University, Japan. Currently, he is an Professor at the Department of Electrical Engineering, Jadavpur University, and Kolkata, India.