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A novel approach for robust controller synthesis, which models uncertainty as an elliptical set, is proposed in the paper. Given a set of frequency response functions of linear time-invariant (LTI) multiple-input multiple-output (MIMO) systems, the approach determines the ‘best’ linear nominal model and the corresponding elliptical uncertainty set, which is consistent with the data. Using a novel split representation, the uncertainty set is represented as an equivalent integral quadratic constraint (IQC). Finally, this IQC is integrated into a data-driven frequency-domain controller synthesis method using convex optimisation. The proposed method is used to design a controller, which is robust against mechanical un- certainties for a hybrid micro-disturbance isolation platform for space applications. The experimental results show that the proposed method provides a less conservative uncertainty set and improves attenuation performance compared to classical methods that use disk uncertainty.
Alireza Karimi, Vaibhav Gupta, Elias Sebastian Klauser
Alireza Karimi, Mert Eyuboglu, Nathan Russell Powell
Alireza Karimi, Philippe Louis Schuchert