Title :
PID robust gain-scheduled controller design
Author :
Vesely, Vojtech ; Ilka, Adrian
Author_Institution :
Inst. of Robot. & Cybern., Slovak Univ. of Technol. in Bratislava, Bratislava, Slovakia
Abstract :
A novel methodology is proposed for robust gain-scheduled PID controller design for uncertain LPV systems. The proposed design procedure is based on the parameter-dependent quadratic stability approach. A new uncertain LPV system model has been introduced in this paper. To access the performance quality the notion of a parameter varying guaranteed cost is used. Numerical examples show the benefit of the proposed method.
Keywords :
control system synthesis; linear parameter varying systems; robust control; three-term control; uncertain systems; PID robust gain-scheduled controller design; linear parameter varying systems; parameter varying guaranteed cost; parameter-dependent quadratic stability approach; performance quality; uncertain LPV systems; Closed loop systems; Lyapunov methods; Numerical stability; Robustness; Stability criteria; Uncertainty; Gain-scheduled controller; LPV systems; Parameter-dependent Lyapunov function; Quadratic gain-scheduled cost function; Robust controller;
Conference_Titel :
Control Conference (ECC), 2014 European
Conference_Location :
Strasbourg
Print_ISBN :
978-3-9524269-1-3
DOI :
10.1109/ECC.2014.6862205
