Title :
Robust gain-scheduled control of a class of nonlinear parameter-dependent systems: application to an uncertain inverted pendulum
Author :
Dussy, Stephane ; Ghaoui, Laurent El
Author_Institution :
Lab. de Math. Appliquees, Ecole Nat. Superieure de Tech. Avancees, Paris, France
Abstract :
Given a nonlinear parameter-dependent system, we seek an output feedback controller such that the closed-loop system satisfies a number of specifications. Our specifications include stability, command input and output peak bounds. The controller state-space matrices are allowed to depend on a set of measured parameters and/or nonlinearities, if any. Our specifications must be satisfied robustly with respect to the remaining (unmeasured) parameters and/or nonlinearities. We derive sufficient conditions that ensure the existence of such a “mixed” gain-scheduled/robust controller. These conditions are LMIs, associated with a set of nonconvex conditions. We propose an efficient heuristic to solve them, and illustrate our design method with an inverted pendulum example
Keywords :
closed loop systems; feedback; heuristic programming; matrix algebra; nonlinear control systems; robust control; state-space methods; uncertain systems; closed-loop system; command input peak bounds; command output peak bounds; controller state-space matrices; efficient heuristic; inverted pendulum example; mixed gain-scheduled/robust controller; nonconvex conditions; nonlinear parameter-dependent systems; output feedback controller; robust gain-scheduled control; stability; uncertain inverted pendulum; Control nonlinearities; Control systems; Design methodology; Nonlinear control systems; Output feedback; Robust control; Robustness; Stability; Sufficient conditions; Symmetric matrices;
Conference_Titel :
Control Applications, 1996., Proceedings of the 1996 IEEE International Conference on
Conference_Location :
Dearborn, MI
Print_ISBN :
0-7803-2975-9
DOI :
10.1109/CCA.1996.558910
