Robust controller interpolation via convex optimization

Authors:
Brandon Hencey;Andrew Alleyne
Affiliations:
Sibley School of Mechanical and Aerospace Engineering, Cornell University, Ithaca, NY;Dept. of Mechanical and Industrial Engineering, University of Illinois Urbana-Champaign, Urbana, IL
Venue:
ACC'09 Proceedings of the 2009 conference on American Control Conference
Year:
2009

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Abstract

Arbitrarily fast switching or blending among controllers often leads to reduced performance and possible instability. This paper introduces a controller interpolation framework for optimizing the dynamic transition among controllers with respect to the H∞ norm. Based on the framework, necessary and sufficient conditions are developed in terms of linear matrix inequalities (LMIs). In addition, the framework is also amenable to optimizing the controller interpolation for other control design objectives expressible via LMIs.