LPV Control of actuator saturated systems: a case study on single-track vehicle control

I. B. Kucukdemiral, L. Ucun, Y. Eren, H. Gorgun, A. Delibasi, G. Cansever

Research output: Chapter in Book/Report/Conference proceedingConference contribution


The L2 gain control problem for disturbance attenuation in Linear Parameter Varying (LPV) Systems with saturating actuators has been addressed where the systems handled in the study are subjected to L2 disturbances. The aim in the presented method is to express saturating actuator analytically with a convex hull of some linear feedback. This point of view allows us to construct L2 control problem via Linear Matrix Inequalities (LMIs). Nested ellipsoids have been used to measure the stability and disturbance rejection capabilities of the control system. At the end, the proposed controller scheme has been simulated on a single-track vehicle dynamics with some linear time-varying parameters and a wind disturbance.
Original languageEnglish
Title of host publicationProceedings of the 5th IFAC Symposium on Mechatronic Systems
EditorsKamal Youcef-Toumi, George T.C. Chiu
PublisherElsevier B.V.
Publication statusPublished - 2010

Publication series

NameIFAC Proceedings Volumes


  • L2 gain control
  • linear matrix inequalities
  • actuator saturation
  • nonlinearity
  • single track vehicle model


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