L2 control of LPV systems with saturating actuators: Pólya approach

L2 control of LPV systems with saturating actuators: Pólya approach

Abstract

This paper addresses the design problem of L2, gain-scheduling non-linear state-feedback controller for linear parameter varying (LPV) systems, subjected to actuator saturations and bounded energy disturbances, by using parameter-dependent type Lyapunov functions. The paper provides a systematic procedure to generate a sequence of linear matrix inequality (LMI) type conditions of increasing precision for obtaining a suboptimal L2 state?feedback controller. The presented method utilizes the modified sector condition for formalization of actuator saturation and homogeneous polynomial parameter?dependent representation of LPV systems. Both simulations and experimental studies on an inverted pendulum on a cart system illustrate the benefits of the approach.

Publication
Optimal Control Applications and Methods