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Discrete-time LPV controller synthesis using dilated LMIs with application to an Arm-Driven Inverted Pendulum
Publikationstyp
Conference Paper
Date Issued
2011
Sprache
English
Author(s)
Institut
Journal
Volume
44
Issue
1
Start Page
7708
End Page
7712
Citation
IFAC Proceedings Volumes (IFAC-PapersOnline) 44 (1): 7708-7712 (2011-01-01)
Contribution to Conference
Publisher DOI
Scopus ID
This paper considers the synthesis of linear parameter-varying controllers based on dilated linear matrix inequalities (LMIs). It is an extension of robust output feedback dynamic controller synthesis based on dilated LMIs. The parameters are assumed to vary inside a convex polytope. Introducing a slack variable allows the separation between system matrices and a Lyapunov matrix and enables the use of a parameter-dependent Lyapunov function. The linear parameter-varying controller obtained by the proposed method does not require a bound on the rate of change of variation of the scheduling parameters in real time, which make the linear parameter-varying controller synthesis approach more practical. The main idea is to have a simple less conservative method based on a parameter-dependent Lyapunov function so that to apply it experimentally. The efficiency of the method is illustrated with experimental results on an Arm- Driven Inverted Pendulum. © 2011 IFAC.
DDC Class
600: Technik
620: Ingenieurwissenschaften