Impedance Model with Varying Feedback Delay in TP Model Form
Our goal in this section is to develop and manipulate a variety of convex polytopic structures for the impedance model with feedback delay. Further, we aim to find tradeoffs between complexity and accuracy of the resulting TP model. Further considerations include effectiveness of LMI based design techniques, and conservativeness of the resulting controller, both of which are investigated in Sect. 18. Through this process, we will essentially be validating the applicability of the TP τ model transformation.