Robust controller interpolation via convex optimization

Author

Hencey, Brandon ; Alleyne, Andrew

Author_Institution

Sibley Sch. of Mech. & Aerosp. Eng., Cornell Univ., Ithaca, NY, USA

fYear

2009

fDate

10-12 June 2009

Firstpage

1092

Lastpage

1097

Abstract

Arbitrarily fast switching or blending among controllers often leads to reduced performance and possible instability. This paper introduces a controller interpolation framework for optimizing the dynamic transition among controllers with respect to the H_infin norm. Based on the framework, necessary and sufficient conditions are developed in terms of linear matrix inequalities (LMIs). In addition, the framework is also amenable to optimizing the controller interpolation for other control design objectives expressible via LMIs.

Keywords

H^infin control; continuous time systems; control system synthesis; interpolation; linear matrix inequalities; linear systems; optimisation; robust control; time-varying systems; H_infin norm; LMI method; LTI system; control design objective; convex optimization; linear matrix inequality; linear time-invariant system; optimization; robust controller interpolation framework; switching control; Control design; Control systems; Design optimization; Interpolation; Linear matrix inequalities; Robust control; Robust stability; Signal design; Sufficient conditions; Symmetric matrices;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 2009. ACC '09.

Conference_Location

St. Louis, MO

ISSN

0743-1619

Print_ISBN

978-1-4244-4523-3

Electronic_ISBN

0743-1619

Type

conf

DOI

10.1109/ACC.2009.5160690

Filename

5160690