Robust triangular decoupling with application to 4WS cars

Author

Koumboulis, Fotis N. ; Skarpetis, Michael G.

Author_Institution

Dept. of Mech. & Ind. Eng., Univ. of Thessaly, Volos

Volume

45

Issue

2

fYear

2000

fDate

2/1/2000 12:00:00 AM

Firstpage

344

Lastpage

352

Abstract

The necessary and sufficient conditions for the problem of robust triangular decoupling are established for the case of a linear time-invariant system with a nonlinear uncertain structure. The general analytic expressions of the feedback matrices and the robust triangularly decoupled closed-loop system are derived. For the solution of the problem of robust triangular decoupling with simultaneous Hurwitz invariability, sufficient conditions are established. Finally, all of the above results are successfully applied to control four-wheel steering (4WS) cars

Keywords

automobiles; closed loop systems; linear systems; robust control; state feedback; uncertain systems; Hurwitz invariability; automobiles; closed-loop system; four-wheel steering cars; linear time-invariant system; necessary conditions; robust control; state feedback; sufficient conditions; triangular decoupling; uncertain systems; Constraint theory; Control design; Eigenvalues and eigenfunctions; Feedback; Industrial control; Laboratories; Process control; Robustness; Stability; Sufficient conditions;

fLanguage

English

Journal_Title

Automatic Control, IEEE Transactions on

Publisher

ieee

ISSN

0018-9286

Type

jour

DOI

10.1109/9.840005

Filename

840005