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Allowable parametric uncertainty in the closed loop for the yaw-roll vehicle model: A skew-μ based approach

The answer to question of “how good does a model need to be to maintain closed loop performance?” is sought. The μ bound is leveraged from the ℋ<inf>∞</inf> control techniques. Specifically a “skew-μ” approach is used to iteratively seek out the remaining “space” for a given parameter to maintain performance specifications of the closed loop system. A coupled yaw-roll vehicle model is reoriented into the linear fraction transformation (LFT) expression. Initial model uncertainty is included in the parameters of the model and the remaining maximum uncertainty space for each parameter is calculated. Additionally the mu-sensitivity of the coupled yaw-raw vehicle model is explored.