Abstract
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 language | English |
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Pages (from-to) | 17-34 |
Number of pages | 18 |
Journal | Optimal Control Applications and Methods |
Volume | 34 |
Issue number | 1 |
DOIs | |
Publication status | Published - Jan 2013 |
Keywords
- 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