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Item type:Publication, Access status: with files , LPV control of a gyroscope with inverted pendulum attachment(Elsevier, 2018-11-23); ; ; A linear parameter varying (LPV) optimal L2 gain controller is designed with mixed-sensitivity shaping to stabilize an inverted pendulum attached to a control moment gyroscope (CMG). Swing-up of the pendulum is achieved by a start-up LPV controller for which the reference is designed by an energy regulator. The LPV performance controller is enabled as soon as the pendulum enters into its operating range of ±0.15 rad. Based on both simulation and experimental results, it is demonstrated that stabilization of the pendulum is achieved for varying gimbal angles and rotational speed of the flywheel.Publicationtype: Journal ArticleScopus© Citations 3 263 337 - Some of the metrics are blocked by yourconsent settings
Item type:Publication, Access status: without files , Fixed-structure LPV-IO controllers: an implicit representation based approachIn this note, novel linear matrix inequality (LMI) analysis conditions for the stability of linear parameter-varying (LPV) systems in input–output (IO) representation form are proposed together with bilinear matrix inequality (BMI) conditions for fixed-structure LPV-IO controller synthesis. Both the LPV-IO plant model and the controller are assumed to depend affinely and statically on the scheduling variables. By using an implicit representation of the plant and the controller interaction, an exact representation of the closed-loop behavior with affine dependence on the scheduling variables is achieved. This representation allows to apply Finsler's Lemma for deriving exact stability as well as exact quadratic performance conditions. A DK-iteration based solution is carried out to synthesize the controller. The main results are illustrated by a numerical example.Publicationtype: Journal Article135 - Some of the metrics are blocked by yourconsent settings
Item type:Publication, Access status: without files , LPV state-space identification via IO methods and efficient model order reduction in comparison with subspace methodsIn this paper, we introduce a procedure for global identification of linear parameter-varying (LPV) discrete-time state-space (SS) models with a static, affine dependency structure in a computationally efficient way. The aim is to develop off-the-shelf LPV-SS estimation methods to make identification practically accessible. The benefits of identifying a computational straightforward LPV input-output (IO) model-that has an equivalent SS representation with static, affine dependency-is combined with an LPV-SS model order reduction. To increase practical relevance of the proposed scheme, in this paper, we present a computational attractive model order reduction scheme based on the LPV Ho-Kalman like realization scheme. We analyze the computational complexity and scalability of our method and compare its benefits to the PBSIDopt scheme. Two examples are provided to demonstrate that our introduced approach performs similar to PBSIDopt in a numerical example and outperforms the PBSIDopt on measurements of a real world system, the air-path system of a gasoline engine.Publicationtype: Conference Paper163 - Some of the metrics are blocked by yourconsent settings
Item type:Publication, Access status: without files , Fixed-structure LPV controller synthesis based on implicit input output representationsIn this paper a novel LPV controller synthesis approach to design fixed-structure LPV controllers in input output (IO) form is presented. The LPV-IO model and the LPV-IO controller are assumed to depend affinely as well as statically on the scheduling variable. By using an implicit representation of the system model and the controller, an exact representation of the closed-loop behavior is achieved. Using Finsler's Lemma, novel stability conditions are derived in the form of linear matrix inequalities (LMIs). Based on these conditions a quadratic performance synthesis approach is introduced in form of bilinear matrix inequalities (BMIs) and solved using a DK-iteration based approach.Publicationtype: Conference Paper67 - Some of the metrics are blocked by yourconsent settings
Item type:Publication, Access status: without files , State-Space realization of LPV Input-Output models: practical methods for the userPublicationtype: Conference Paper13