Análisis de la robustez en la estabilidad y el desempeño de un sistema de control lateral para automóviles
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This paper presents a practical application of a modern methodology for analyzing the effects of parametric and unstructured uncertainty in the internal stability and performance of a Multivariable control system. The proposed approach is based on the complementary combination of two main mathematical concepts: first, the Linear Fractional Transformation (LFT) used as a matrix function that allows a unified representation of different types of model uncertainty. The second, the Structured Singular Value Function (SSV or m) that provides a necessary and sufficient condition for the robustness test with a moderate amount of computation complexity. The methodology is applied to a Vehicle Lateral Control System (VLCS) developed by a research team of the Automation Department of the Politecnico di Torino in partnership with Centro Ricerca FIAT (CRF) and experimentally tested in a Fiat Brava 1600 ELX in an Italian Highway.
control, control multivariable, automatización industrialControl, multivariable control, industrial automation
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