Tp Model Transformation Based Control of the Tora System

This paper presents a case study of the TP (Tensor Product) model transformation in the control of a nonlinear benchmark problem. We design a nonlinear controller of translational oscillation with an eccentric rotational proof mass actuator (TORA) system via TP model transformation and LMI (Linear Matrix Inequality) based controller design technique that is also capable of the reference signal tracking control. The main contribution of the paper is to show that both numerical methods the TP model transformation and the LMI can readily be executed computer independently on the given problem and without analytical derivations, that, hence, lead to a fast way of controller designs for a class of engineering control problems. Numerical simulation is used in the paper to provide empirical validation of the control results.