Title :
State-space formulas for gain-scheduled ℓ1-optimal controller
Author :
Rieber, Jochen M. ; Fritsch, Alexandra ; Allgöwer, Frank
Author_Institution :
Inst. for Syst. Theor. in Eng., Stuttgart Univ., Germany
Abstract :
Design of gain-scheduled controllers has attracted wide attention in H∞ control. Within the framework of ℓ1-optimal control, a novel method for gain-scheduled output-feedback control has been proposed recently using a special control structure. This paper extends this method to more general linear parameter-varying systems. Furthermore an explicit way of constructing the resulting gain-scheduled controllers is derived, and conditions for their existence are given. Finally, state-space formulas for these controllers are introduced. These formulas significantly facilitate an implementation and result in a relatively low complexity of the controller\´s parameter dependence.
Keywords :
adaptive control; linear systems; optimal control; parameter space methods; robust control; state feedback; state-space methods; stochastic systems; ℓ1-optimal controller; H∞ control; controller parameter dependence; gain scheduling; linear parameter-varying systems; output feedback control; robust control; state-space formula; Control systems; Design engineering; Differential equations; Gain measurement; Nonlinear dynamical systems; Nonlinear systems; Robots; Robust control; Stability; Systems engineering and theory;
Conference_Titel :
American Control Conference, 2005. Proceedings of the 2005
Print_ISBN :
0-7803-9098-9
Electronic_ISBN :
0743-1619
DOI :
10.1109/ACC.2005.1470024
