Optimal H∞ controller with a novel control architecture in the HELVIS mini-HEV EDS

HELVIS (Hybrid Electric Vehicle In Low Scale) has shown to be a very efficient platform in the research of HEVs (Hybrid Electric Vehicles) at our institution, as a mean to introduce students of all degrees to the technical universe that surrounds the HEV subject. In this work, a novel approach on the design of controllers to the EDS (Electronic Differential System) problem is presented. The synthesis of a reliable optimal H_∞ robust controller to the EDS of HELVIS autonomous mini-HEV using the γ-iteration algorithm is outlined. A new control architecture to fully meet the H_∞ controller high ability to reject noises is also proposed. Furthermore, the proposed architecture is a result of an well defined and distributed blocks of functionalities which makes the system suitable for low scale embedded applications. Main aspects, as robustness to noises and performance at a vast range of frequencies are illustrated. At the end, experimental results are evaluated, after embedding the entire HELVIS ED system in a dSpace™ 1103 interface board.