Title :
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
fDate :
2/1/2000 12:00:00 AM
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;
Journal_Title :
Automatic Control, IEEE Transactions on
