LPV controller design with multiple parameters for the nonlinear RTAC system

This paper proposes linear parameter varying (LPV) model with multiple parameters (LPV-MP) and statefeedback controller for the nonlinear rotational and translational actuator (RTAC) benchmark problem. First, based on LPV-MP, the conditions used for designing the state-feedback controller are formulated in terms of parameterized linear matrix inequalities (PLMIs) and the state-feedback LPV controller using multiple parameters-dependent Lyapunov function (MPDLF) is designed. Then, PLMI conditions are converted into linear matrix inequalities (LMIs) by using a parameter relaxation technique. The proposed method results in the reduced decision variables and simulation results show good performance of the proposed method.