This paper examines the gain-scheduling problem with a particular focus on controller interpolation with guaranteed stability of the nonlinear closed-loop system. For linear parameter varying model representations, a method of interpolating between controllers utilizing the Youla parametrization is proposed. Quadratic stability despite fast scheduling is guaranteed by construction, while the characteristics of individual controllers designed a priori are recovered at critical design points. Methods for reducing the state dimension of the interpolated controller are also given. The capability of the proposed approach to guarantee stability despite arbitrarily fast transitions leads naturally to application to switched linear systems. The efficacy of the method is demonstrated in simulation using a multi-input, multi-output, nonminimum-phase system, while interpolating between two controllers of different sizes and structures.
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January 2010
Research Papers
Stable Controller Interpolation and Controller Switching for LPV Systems
Bryan P. Rasmussen
,
brasmussen@tamu.edu
Bryan P. Rasmussen
Assistant Professor
Texas A&M University
, College Station, TX 77843-3123
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Young Joon Chang
Young Joon Chang
Texas A&M University
, College Station, TX 77843-3123
Search for other works by this author on:
Bryan P. Rasmussen
Assistant Professor
Young Joon Chang
Texas A&M University
, College Station, TX 77843-3123J. Dyn. Sys., Meas., Control. Jan 2010, 132(1): 011007 (12 pages)
Published Online: December 9, 2009
Article history
Received:
December 10, 2008
Revised:
May 22, 2009
Online:
December 9, 2009
Published:
December 9, 2009
Citation
Rasmussen, B. P., and Chang, Y. J. (December 9, 2009). "Stable Controller Interpolation and Controller Switching for LPV Systems." ASME. J. Dyn. Sys., Meas., Control. January 2010; 132(1): 011007. https://doi.org/10.1115/1.4000075
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