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Comparison between H∞ and CRONE Control Combined with QFT Approach to Control Multivariable Systems in Path Tracking Design

International Journal of Computer Applications
© 2012 by IJCA Journal
Volume 45 - Number 12
Year of Publication: 2012
Najah Yousfi
Pierre Melchior
Chokri Rekik
Nabil Derbel
Alain Oustaloup

Najah Yousfi, Pierre Melchior, Chokri Rekik, Nabil Derbel and Alain Oustaloup. Article: Comparison between H8 and CRONE Control combined with QFT Approach to Control Multivariable Systems in Path Tracking Design. International Journal of Computer Applications 45(12):1-9, May 2012. Full text available. BibTeX

	author = {Najah Yousfi and Pierre Melchior and Chokri Rekik and Nabil Derbel and Alain Oustaloup},
	title = {Article: Comparison between H8 and CRONE Control combined with QFT Approach to Control Multivariable Systems in Path Tracking Design},
	journal = {International Journal of Computer Applications},
	year = {2012},
	volume = {45},
	number = {12},
	pages = {1-9},
	month = {May},
	note = {Full text available}


Motion control and robust path tracking were the subject of this paper. A method based on fractional prefilter which is extended to multivariable systems is developed. This approach is based on the MIMO-QFT robust synthesis methodology combined with CRONE control. This paper incorporates Quantitative Feedback Theory (QFT) principles to CRONE control design procedure to solve the Two-Degree-Of-Freedom (TDOF) with Highly Uncertain Plants. A comparison between H∞ and CRONE controllers has been done. After that, synthesis of fractional prefilters is given with optimization of its parameters using integral gap criterion. To assess the proposed design, a numerical example has been considered.


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