µ Synthesis and LFT Gain Scheduling with Mixed Uncertainties

This paper presents the solution to the mixed µ synthesis problem, and how to design gain scheduling controllers with linear fractional transformations (LFTs). The system is assumed to have a parameter dependences described by LFTs The goal of the controller is, with real-time knowledge of the parameters, to provide disturbance and error attenuation. The paper treats both complex and real parametric dependencies