L-2 control of LPV systems with saturating actuators: Polya approach


Delibasi A. , Kucukdemiral I. B. , Cansever G.

OPTIMAL CONTROL APPLICATIONS & METHODS, vol.34, no.1, pp.17-34, 2013 (Journal Indexed in SCI) identifier identifier

  • Publication Type: Article / Article
  • Volume: 34 Issue: 1
  • Publication Date: 2013
  • Doi Number: 10.1002/oca.1025
  • Title of Journal : OPTIMAL CONTROL APPLICATIONS & METHODS
  • Page Numbers: pp.17-34

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. Copyright (C) 2011 John Wiley & Sons, Ltd.