Friction compensation in TP model form - Aeroelastic wing as an example system

Béla Takarics, Péter Baranyi

Research output: Contribution to journalArticlepeer-review

11 Scopus citations


The aim of this paper is to fit the friction compensation problem in the field of modern polytopic and Linear Matrix Inequality (LMI) based control design methodologies. The paper proves that the exact Tensor Product (TP) type polytopic representations of most commonly utilized friction models such as Coulomb, Stribeck and LuGre exist. The paper also determines and evaluates these TP models via a TP model transformation. The conceptual use of the TP model of the friction is demonstrated via a complex control design problem of a 2D aeroelastic wing section. The paper shows how the friction model and the model of the aeroelastic wing section can be merged and transformed to a TP type polytopic model - by TP model transformation - whereupon LMI based control performance optimization can immediately be executed to yield an observer based output feedback control solution to given specifications. The example is evaluated via numerical simulations.

Original languageEnglish (US)
Pages (from-to)127-145
Number of pages19
JournalActa Polytechnica Hungarica
Issue number4
StatePublished - Jul 23 2015


  • Friction compensation
  • LMI-based multi-objective control
  • TP model transformation
  • qLPV systems


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