Robust discrete gain-scheduled controller design for uncertain LPV systems

Abstract

This paper deals with the robust discrete gain-scheduled controller design for uncertain linear parameter-varying (LPV) systems which ensures closed-loop stability and guaranteed cost for all scheduled parameter changes. The novel procedure is based on LPV paradigm, Lyapunov theory of stability and guaranteed cost from LQ theory. To access the performance quality a quadratic cost function is used, where weighting matrices are time varying matrices which depends on scheduled parameter. The obtained design procedures are in the form of bilinear matrix inequalities (BMI). The class of control structure includes decentralized fixed order output feedback like PID (PSD) controller. Numerical examples illustrate the effectiveness of the proposed approach.