Abstract
This paper aims at presenting a modelization of the uncertainty on the linear model obtained from the so-called linearizing feedback of dynamic flat systems. After such a linearizing feedback is computed to ensure good nominal tracking performance, a compact set of models can be computed by taking account of both state space disturbances and parametric errors. A robust linear feedback is then designed in order to guarantee a specified level of performance. This representation of the compact set of models makes use of the Linear Fractional Transformation. so that the global robustness of tracking performance is assessed by μanalysis.
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