L2 control of LPV systems with saturating actuators: Pólya¿approach

Akin Delibasi, Ibrahim B. Kucukdemiral, Galip Cansever

Research output: Contribution to journalArticlepeer-review


This paper addresses the design problem of L2, gain-scheduling non-linear state-feedback controller for linear parameter varying (LPV) systems, subjected to actuator saturations and bounded energy disturbances, by using parameter-dependent type Lyapunov functions. The paper provides a systematic procedure to generate a sequence of linear matrix inequality (LMI) type conditions of increasing precision for obtaining a suboptimal L2 state-feedback controller. The presented method utilizes the modified sector condition for formalization of actuator saturation and homogeneous polynomial parameter-dependent representation of LPV systems. Both simulations and experimental studies on an inverted pendulum on a cart system illustrate the benefits of the approach.
Original languageEnglish
Pages (from-to)17-34
Number of pages18
JournalOptimal Control Applications and Methods
Issue number1
Publication statusPublished - Jan 2013


  • homogeneous polynomial parameter-dependent Lyapunov functions, input to state stability, LMIs, actuator saturation, inverted pendulum, real-time control
  • real time control
  • inverted pendulum
  • actuator saturation
  • LMIs
  • input to state stability


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