A robust-control-relevant model validation approach for continuously variable transmission control

High performance continuously variable transmission (CVT) operation requires a reliable control design for its actuation system. The aim of the present paper is to design a high performance robust controller for a range of operating conditions. High performance robust control is achieved by identifying a robust-control-relevant model set that represents the relevant dynamics of the actuation system for a range of operating conditions. Specifically, a new coordinate frame for representing model uncertainty is adopted that transparently connects the size of the model uncertainty and the control criterion, consequently a nonconservative control design can be obtained. Subsequent robust control synthesis reveals that robust performance has been significantly improved over the entire operating range, with respect to both the criterion value and relevant simulated and measured closed-loop step responses.