LFT modelling of a system with uncertain damping for force estimation [robust control]

This video presents the modeling of a mass-spring-damper system with an uncertain damping coefficient, subject to an unknown force input with limited bandwidth (that is, it will be the output of a first-order filter). The LFT modeling is detailed, leaving the uncertainty separated from the plant. The outputs that will be necessary to solve a problem of optimal design of force estimators will be also discussed. Here we insist on the concept of LFT uncertainty modeling, because I consider it an important didactic objective per se... but in this case of real parametric uncertainty, we can leave the job of setting up the LFT to Matlab and make everything easier, as seen for this same system in the video • **Robust stability mar... .
The actual design of the observers via h2, hinf or mu synthesis will be addressed in the video • Force estimation in an... .
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Antonio Sala
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