DocumentCode :
2247926
Title :
LQ robust controllers for polynomially uncertain systems
Author :
Lavaei, Javad ; Aghdam, Amir G.
Author_Institution :
Dept. of Control & Dynamical Syst., California Inst. of Technol., Pasadena, CA, USA
fYear :
2008
fDate :
9-11 Dec. 2008
Firstpage :
2244
Lastpage :
2251
Abstract :
This paper is concerned with the LQ optimal robust control of discrete-time LTI systems with uncertainties belonging to a semi-algebraic set. Given a prescribed cost function, the problem of designing a gain-scheduled static controller, whose gain depends polynomially on the uncertain parameters is formulated as a SOS problem. This indeed requires solving two hierarchies of SDP problems, which may in turn introduce high computational burden, and hence complicate the optimal robust controller design. To bypass this barrier, an alternative approach is developed which is much less involved, at the cost of obtaining a near-optimal controller (as opposed to an optimal one). The efficacy of this work is elucidated in two numerical examples.
Keywords :
control system synthesis; discrete time systems; linear quadratic control; polynomials; robust control; set theory; uncertain systems; LQ robust controller; discrete-time LTI system; gain-scheduled static controller design; linear quadratic control; polynomially uncertain system; semialgebraic set; Control systems; Cost function; Java; Lyapunov method; Optimal control; Polynomials; Robust control; Robust stability; Uncertain systems; Uncertainty;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Decision and Control, 2008. CDC 2008. 47th IEEE Conference on
Conference_Location :
Cancun
ISSN :
0191-2216
Print_ISBN :
978-1-4244-3123-6
Electronic_ISBN :
0191-2216
Type :
conf
DOI :
10.1109/CDC.2008.4739099
Filename :
4739099
Link To Document :
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