An alternative formulation of the interpolation based constrained H∞ control of discrete-time LPV systems

The paper presents an alternative formulation of the interpolation based constrained ℋ_∞ control presented originally in [16], [12], [17]. The concept itself has not been changed: by interpolating among unconstrained state feedback gains both the ℋ_∞ performance and the satisfaction of the hard state, input and output constraints can be guaranteed. The novelty is in the computation of the region of applicability of the controller. It is now based on the d-invariant sets of the individual controllers and not on the high dimensional extended system comprising all of the closed loops generated by the controllers.