Tensor product model type polytopic decomposition of a pneumatic system with friction phenomena taken into account

This paper presents TP (Tensor Product) model type polytopic decomposition of the qLPV state space dynamic model of the proportional valve driven pneumatic cylinder with friction phenomena taken into account. First the qLPV model of the system is presented. Then the TP model transformation on the qLPV model is executed in order to obtain CNO (close to normal) convex form. This paper proves that the pneumatic model can exactly be represented by TP model type polytopic form with minimum 81 vertices.