Observer-based output feedback gain-scheduled controller design

Author

Ilka, Adrian ; Vesely, Vojtech

Author_Institution

Inst. of Robot. & Cybern., Slovak Univ. of Technol. in Bratislava, Bratislava, Slovakia

fYear

2015

fDate

9-12 June 2015

Firstpage

13

Lastpage

18

Abstract

Our paper deals with the observer-based output feedback gain-scheduled controller design which ensures closed-loop stability and guaranteed cost for all scheduled parameter changes. The novel procedure is based on LPV paradigm, Lyapunov theory of stability and guaranteed cost from LQ theory. To access the performance quality a quadratic cost function is used. The obtained design procedures are in the form of BMI. The class of control structure includes decentralized fixed order observer-based output feedback like PID controller. Numerical examples illustrate the effectiveness of the proposed approach.

Keywords

Lyapunov methods; closed loop systems; control system synthesis; decentralised control; feedback; linear parameter varying systems; linear quadratic control; observers; stability; three-term control; BMI; LPV system; LQ theory; Lyapunov theory; PID controller; closed-loop stability; decentralized control; linear parameter-varying system; observer; output feedback gain-scheduled controller design; quadratic cost function; Closed loop systems; Cost function; Lyapunov methods; Observers; Output feedback; Simulation; Stability analysis; Decentralized control; Gain-scheduling; LPV systems; Lyapunov theory; State observer;

fLanguage

English

Publisher

ieee

Conference_Titel

Process Control (PC), 2015 20th International Conference on

Conference_Location

Strbske Pleso

Type

conf

DOI

10.1109/PC.2015.7169731

Filename

7169731