Gain-scheduled Smith PID controllers for LPV first order plus time varying delay systems

Practical control problems often deal with parameter varying uncertain systems that can be described by a first order plus delay (FOPD) model. In this paper, a new approach to design gain scheduled robust linear parameter varying (LPV) PID controllers with pole placement constraints (through LMI regions) is proposed. The controller structure includes a Smith predictor, real time measured parameters that schedule the controller (including the known part of the delay) and unstructured dynamic uncertainty which covers the unknown portion of the delay. Finally, this proposed control technique is validated in an academic example.