{"id":"https://openalex.org/W3198068975","doi":"https://doi.org/10.1109/tcst.2022.3167610","title":"Linear Fractional Transformation Modeling of Multibody Dynamics Around Parameter-Dependent Equilibrium","display_name":"Linear Fractional Transformation Modeling of Multibody Dynamics Around Parameter-Dependent Equilibrium","publication_year":2022,"publication_date":"2022-04-28","ids":{"openalex":"https://openalex.org/W3198068975","doi":"https://doi.org/10.1109/tcst.2022.3167610","mag":"3198068975"},"language":"en","primary_location":{"id":"doi:10.1109/tcst.2022.3167610","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2022.3167610","pdf_url":null,"source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Control Systems Technology","raw_type":"journal-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2109.00407","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5078412395","display_name":"Ervan Kassarian","orcid":"https://orcid.org/0000-0003-0676-5437"},"institutions":[{"id":"https://openalex.org/I193033237","display_name":"Institut Superieur de l'Aeronautique et de l'Espace (ISAE-SUPAERO)","ror":"https://ror.org/04gyj6s21","country_code":"FR","type":"education","lineage":["https://openalex.org/I193033237"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Ervan Kassarian","raw_affiliation_strings":["ISAE-SUPAERO, Toulouse, France"],"raw_orcid":"https://orcid.org/0000-0003-0676-5437","affiliations":[{"raw_affiliation_string":"ISAE-SUPAERO, Toulouse, France","institution_ids":["https://openalex.org/I193033237"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018830374","display_name":"Francesco Sanfedino","orcid":"https://orcid.org/0000-0002-3732-5357"},"institutions":[{"id":"https://openalex.org/I193033237","display_name":"Institut Superieur de l'Aeronautique et de l'Espace (ISAE-SUPAERO)","ror":"https://ror.org/04gyj6s21","country_code":"FR","type":"education","lineage":["https://openalex.org/I193033237"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Francesco Sanfedino","raw_affiliation_strings":["ISAE-SUPAERO, Toulouse, France"],"raw_orcid":"https://orcid.org/0000-0002-3732-5357","affiliations":[{"raw_affiliation_string":"ISAE-SUPAERO, Toulouse, France","institution_ids":["https://openalex.org/I193033237"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084959542","display_name":"Daniel Alazard","orcid":"https://orcid.org/0000-0002-5830-1821"},"institutions":[{"id":"https://openalex.org/I193033237","display_name":"Institut Superieur de l'Aeronautique et de l'Espace (ISAE-SUPAERO)","ror":"https://ror.org/04gyj6s21","country_code":"FR","type":"education","lineage":["https://openalex.org/I193033237"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Daniel Alazard","raw_affiliation_strings":["ISAE-SUPAERO, Toulouse, France"],"raw_orcid":"https://orcid.org/0000-0002-5830-1821","affiliations":[{"raw_affiliation_string":"ISAE-SUPAERO, Toulouse, France","institution_ids":["https://openalex.org/I193033237"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039399023","display_name":"Charles-Antoine Chevrier","orcid":"https://orcid.org/0000-0003-3097-5063"},"institutions":[{"id":"https://openalex.org/I2799535048","display_name":"Centre National d'\u00c9tudes Spatiales","ror":"https://ror.org/04h1h0y33","country_code":"FR","type":"government","lineage":["https://openalex.org/I2799535048"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Charles-Antoine Chevrier","raw_affiliation_strings":["CNES, Toulouse, France"],"raw_orcid":"https://orcid.org/0000-0003-3097-5063","affiliations":[{"raw_affiliation_string":"CNES, Toulouse, France","institution_ids":["https://openalex.org/I2799535048"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5112197174","display_name":"Johan Montel","orcid":null},"institutions":[{"id":"https://openalex.org/I2799535048","display_name":"Centre National d'\u00c9tudes Spatiales","ror":"https://ror.org/04h1h0y33","country_code":"FR","type":"government","lineage":["https://openalex.org/I2799535048"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Johan Montel","raw_affiliation_strings":["CNES, Toulouse, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CNES, Toulouse, France","institution_ids":["https://openalex.org/I2799535048"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.5859,"has_fulltext":true,"cited_by_count":7,"citation_normalized_percentile":{"value":0.62802373,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"31","issue":"1","first_page":"418","last_page":"425"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9983999729156494,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11236","display_name":"Control Systems and Identification","score":0.9951000213623047,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/linear-fractional-transformation","display_name":"Linear fractional transformation","score":0.7887430787086487},{"id":"https://openalex.org/keywords/linearization","display_name":"Linearization","score":0.7254419922828674},{"id":"https://openalex.org/keywords/parametric-statistics","display_name":"Parametric statistics","score":0.7033047080039978},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6462875604629517},{"id":"https://openalex.org/keywords/multibody-system","display_name":"Multibody system","score":0.6356563568115234},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5567768812179565},{"id":"https://openalex.org/keywords/parametric-model","display_name":"Parametric model","score":0.5001564025878906},{"id":"https://openalex.org/keywords/matlab","display_name":"MATLAB","score":0.4965360760688782},{"id":"https://openalex.org/keywords/trimming","display_name":"Trimming","score":0.42408353090286255},{"id":"https://openalex.org/keywords/transformation","display_name":"Transformation (genetics)","score":0.41145747900009155},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3570902943611145},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.32551658153533936},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.31277287006378174},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.29193902015686035},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2894560694694519},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.10396978259086609}],"concepts":[{"id":"https://openalex.org/C2777376839","wikidata":"https://www.wikidata.org/wiki/Q18354190","display_name":"Linear fractional transformation","level":4,"score":0.7887430787086487},{"id":"https://openalex.org/C11210021","wikidata":"https://www.wikidata.org/wiki/Q1520713","display_name":"Linearization","level":3,"score":0.7254419922828674},{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.7033047080039978},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6462875604629517},{"id":"https://openalex.org/C67865112","wikidata":"https://www.wikidata.org/wiki/Q1917564","display_name":"Multibody system","level":2,"score":0.6356563568115234},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5567768812179565},{"id":"https://openalex.org/C24574437","wikidata":"https://www.wikidata.org/wiki/Q7135228","display_name":"Parametric model","level":3,"score":0.5001564025878906},{"id":"https://openalex.org/C2780365114","wikidata":"https://www.wikidata.org/wiki/Q169478","display_name":"MATLAB","level":2,"score":0.4965360760688782},{"id":"https://openalex.org/C56951928","wikidata":"https://www.wikidata.org/wiki/Q3539213","display_name":"Trimming","level":2,"score":0.42408353090286255},{"id":"https://openalex.org/C204241405","wikidata":"https://www.wikidata.org/wiki/Q461499","display_name":"Transformation (genetics)","level":3,"score":0.41145747900009155},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3570902943611145},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.32551658153533936},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.31277287006378174},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.29193902015686035},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2894560694694519},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.10396978259086609},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/tcst.2022.3167610","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2022.3167610","pdf_url":null,"source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Control Systems Technology","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:2109.00407","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2109.00407","pdf_url":"https://arxiv.org/pdf/2109.00407","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"pmh:oai:HAL:hal-03955851v1","is_oa":true,"landing_page_url":"https://hal.science/hal-03955851","pdf_url":"https://hal.science/hal-03955851/document","source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Transactions on Control Systems Technology, 2023, 31 (1), pp.418-425. ⟨10.1109/TCST.2022.3167610⟩","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2109.00407","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2109.00407","pdf_url":"https://arxiv.org/pdf/2109.00407","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3704278563","display_name":null,"funder_award_id":"51/18660","funder_id":"https://openalex.org/F4320321519","funder_display_name":"Centre National d\u2019Etudes Spatiales"}],"funders":[{"id":"https://openalex.org/F4320321519","display_name":"Centre National d\u2019Etudes Spatiales","ror":"https://ror.org/04h1h0y33"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":43,"referenced_works":["https://openalex.org/W92080942","https://openalex.org/W1607661090","https://openalex.org/W1915270841","https://openalex.org/W2005709023","https://openalex.org/W2009000427","https://openalex.org/W2011239425","https://openalex.org/W2012604200","https://openalex.org/W2015168212","https://openalex.org/W2030172817","https://openalex.org/W2037792105","https://openalex.org/W2040740716","https://openalex.org/W2046330469","https://openalex.org/W2053508633","https://openalex.org/W2055561145","https://openalex.org/W2091771717","https://openalex.org/W2094399770","https://openalex.org/W2102078481","https://openalex.org/W2110728593","https://openalex.org/W2123910839","https://openalex.org/W2137114241","https://openalex.org/W2138432817","https://openalex.org/W2142014508","https://openalex.org/W2149809528","https://openalex.org/W2314050522","https://openalex.org/W2472516379","https://openalex.org/W2493292999","https://openalex.org/W2527982345","https://openalex.org/W2560507416","https://openalex.org/W2567584540","https://openalex.org/W2581435490","https://openalex.org/W2729566193","https://openalex.org/W2765315575","https://openalex.org/W2773533439","https://openalex.org/W2900507451","https://openalex.org/W2969984921","https://openalex.org/W2973142204","https://openalex.org/W3008954718","https://openalex.org/W3121601860","https://openalex.org/W3132862861","https://openalex.org/W3195133498","https://openalex.org/W6603712309","https://openalex.org/W6740688930","https://openalex.org/W6788639459"],"related_works":["https://openalex.org/W2467235537","https://openalex.org/W4243755427","https://openalex.org/W1493074871","https://openalex.org/W2222099502","https://openalex.org/W2128287377","https://openalex.org/W1979067309","https://openalex.org/W2375590729","https://openalex.org/W2385024427","https://openalex.org/W2978797270","https://openalex.org/W181147239"],"abstract_inverted_index":{"This":[0],"brief":[1],"proposes":[2],"a":[3,41,138,155,191],"new":[4],"linear":[5,13],"fractional":[6],"transformation":[7],"(LFT)":[8],"modeling":[9,153],"approach":[10,81,170,209],"for":[11,210],"uncertain":[12],"parameter-varying":[14],"(LPV)":[15],"multibody":[16,22,99],"systems":[17],"with":[18,51,167,184,187],"parameter-dependent":[19],"equilibrium.":[20],"Traditional":[21],"approaches,":[23],"which":[24,101],"consist":[25],"of":[26,31,88,97,120,129,154,206],"building":[27],"the":[28,32,52,84,89,92,98,109,113,117,121,125,130,135,151,164,168,172,176,188,204,207],"nonlinear":[29],"model":[30,128,165,173],"whole":[33],"structure":[34,131],"and":[35,86],"linearizing":[36],"it":[37,181],"around":[38],"equilibrium":[39],"after":[40],"numerical":[42],"trimming,":[43],"do":[44],"not":[45],"allow":[46],"to":[47,103,150,202],"isolate":[48],"parametric":[49,140,185],"variations":[50,186],"LFT":[53,68,110,189],"form.":[54],"Although":[55],"additional":[56],"techniques,":[57],"such":[58],"as":[59],"polynomial":[60],"fitting":[61,146],"or":[62,74,145],"symbolic":[63],"linearization,":[64],"can":[65],"provide":[66],"an":[67],"model,":[69,141],"they":[70],"may":[71],"be":[72],"time-consuming":[73],"miss":[75],"worst":[76],"case":[77],"configurations.":[78],"The":[79],"proposed":[80,169,208],"relies":[82],"on":[83],"trimming":[85],"linearization":[87,114],"equations":[90],"at":[91],"substructure":[93],"level,":[94],"before":[95],"assembly":[96],"structure,":[100],"allows":[102],"only":[104],"perform":[105],"operations":[106],"that":[107],"preserve":[108],"form":[111],"throughout":[112],"process.":[115],"Since":[116],"physical":[118],"origin":[119],"parameters":[122],"is":[123,158,182,195],"retained,":[124],"linearized":[126],"LFT-LPV":[127,152],"exactly":[132],"covers":[133],"all":[134],"plants,":[136],"in":[137,160],"single":[139],"without":[142],"introducing":[143],"conservatism":[144],"errors.":[147],"An":[148],"application":[149],"robotic":[156],"arm":[157],"proposed;":[159],"its":[161],"nominal":[162],"configuration,":[163],"obtained":[166],"matches":[171],"provided":[174],"by":[175],"software":[177],"Simscape":[178],"Multibody,":[179],"but":[180],"enhanced":[183],"form;":[190],"robust":[192,199],"LPV":[193],"synthesis":[194],"performed":[196],"using":[197],"MATLAB":[198],"control":[200,211],"toolbox":[201],"illustrate":[203],"capacity":[205],"design.":[212]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1}],"updated_date":"2026-07-03T08:13:44.112507","created_date":"2025-10-10T00:00:00"}