Non simplex enclosing polytope generation concept for Tensor Product model transformation based controller design
In polytopic model based controller synthesis, the vertices of the model determine the achievable performance characteristics. This paper introduces a new concept, that allows for the sophisticated construction of non simplex enclosing polytopes. The non simplex structures in general, have much better descriptor properties than the simplex one that leads to less conservative synthesis. The paper demonstrates the workflow of controller design for a nonlinear system through the example of the TORA (Translational Oscillator with a Rotational Actuator) system. The numerical results clearly show that the proposed approach is capable of excluding non stabilizable regions located between the exact convex hull and the enclosing simplex. The non simplex polytope leads to an increased number of vertices but it practically does not influence the viability of Tensor Product (TP) formalization and the feasibility of controller design while the achievable control performance can be improved significantly.
2016 IEEE International Conference on Systems, Man, and Cybernetics (SMC)