ℋ∞-suboptimal tracking control for bilinear power systems with dynamic feedback - theory and experiment

In this contribution, a ℋ_∞-controller as derived in is used for the tracking of a sufficiently smooth reference trajectory. The systems under investigation are bilinear SISO power systems with dynamic feedback. Two theorems are presented, when the conditions on time-varying iISS (integral input-to-state stability) and the suboptimality of the feedback control law are fulfilled along the overall error dynamics. For a Boost-Converter/DC-motor combination, a trajectory replanning strategy is devised in order to adapt online the reference trajectory using the estimated values of the disturbance from the load estimator. Experimental results on a laboratory setup support the suitability of the approach in practice.