Gain Scheduled Output Feedback Control Based on LTI Controller Interpolation that Preserves LPV H∞ Performance

Authors:
Zhongwei Yu;Huitang Chen;Peng-Yung Woo
Affiliations:
Information and Control Engineering Dept., Tongji University, Shanghai, PRC;Information and Control Engineering Dept., Tongji University, Shanghai, PRC;Dept. of Electr. Eng., Northern Illinois University, Dekalb Il 60115, U.S.A
Venue:
Journal of Intelligent and Robotic Systems
Year:
2004

Citing 4
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Gain scheduling via linear fractional transformations

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Robust performance of linear parametrically varying systems using parametrically-dependent linear feedback

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Self-scheduled H∞ control of linear parameter-varying systems: a design example

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Parameterized LMIs in Control Theory

SIAM Journal on Control and Optimization

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Abstract

A new approach to the design of a gain scheduled output feedback controller based on linear time-invariant (LTI) controller interpolation that preserves H∞ performance without a varying-parameter rate feedback is proposed. After the controller design is translated into parameterized linear matrix inequalities about parameter matrices based on a parameter-dependent Lyapunov function, the sufficient condition is given for the partition of the varying-parameter set based on the concept of “H∞ performance covering”. The varying-parameter set is thus partitioned into sufficiently small subsets. After the constant matrices are found for each of the subsets, the required continuous parameter matrices are obtained by using interpolation. The proposed controller overcomes the drawback that the gain scheduled controller may not be found by using the existing gain scheduled linear parameter varying (LPV) controller synthesis. Moreover, the varying-parameter rate feedback is eliminated and the conservatism of the controller design is reduced by means of limiting the upper bound of the varying-parameter rate. Simulation and experiment results prove the effectiveness of the proposed controller.