A velocity-based LPV modeling and control framework for nonlinear tracking

Motivated by recent results on the LPV control theory and velocity-based linearization approach, a velocity-based LPV modeling and control framework combined with a novel implementation method has been developed to a tracking control structure. In the framework the LPV model linearization by the velocity-based approach is equivalent to original nonlinear control for every operating point. Based on the LPV model, the design of LPV controller is reduced to LMI problem and is numerically tractable. Different from the conventional gain-scheduling controller implementation, the LPV controller implementation of this paper can guarantee that the whole tracking control system is global asymptotically stable with the robustness performance rather than so-called local linear equivalence property. An example shows the effect of the proposed approach.