Affine LPV Modeling: An H-infinity Based Approach

One of the challenges in the design of highbandwidth control systems is the development of a global model, suitable for high-performance controller synthesis, while concomitant with both high model fidelity in Open-Loop (OL), e,g. for trajectory planning, and high computational efficiency for on-line processing. It is the purpose of this paper to present such a modeling structure, anchored in the realm of affine quasiLinear Parameter-Varying (LPV) systems, for the specific case where a plant’s complex Nonlinear Model (NM) is already available.

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