Internal model control design for linear parameter varying systems

In this paper, we address the design of internal model controllers (IMC) for linear parameter varying (LPV) systems. The design method presented here integrates the IMC and low-pass filter design problems. To this purpose, we formulate the design problem as a linear matrix inequality (LMI) optimization problem by imposing a constraint on the structure of the Lyapunov matrices involved to guarantee robust stability and performance of the closed-loop system. The LMI-based design procedure eventually provides the parameter-dependent state-space matrices corresponding to the IMC controller. Finally, simulation results obtained from a nonlinear system modeled in LPV framework demonstrate the effectiveness of the proposed design method, where we illustrate the improvements achieved by using the LMI-based IMC design over baseline IMC controllers amended with low-pass filters of different bandwidths.