Hysteresis compensation using LPV gain-scheduling

This paper proposes a linear parameter varying (LPV) approach to control nonlinear systems with hysteresis. An equivalent representation of the hysteretic system as a quasi - LPV system is provided. The design approach is demonstrated using a two-mass-spring system with a hysteretic spring force. The LPV controller is scheduled based on real-time measurements of the spring stiffness. The results are compared to a robust H/sub /spl infin// control design that considers the hysteretic stiffness variability as system uncertainty. It is shown that the LPV design provides superior performance and avoids the conservatism of the robust H/sub /spl infin// design. The results demonstrate that with an appropriate formulation, LPV gain-scheduling is an effective alternative to inverse compensation.