0
Research Papers

Stable Controller Interpolation and Controller Switching for LPV Systems

[+] Author and Article Information
Bryan P. Rasmussen

 Texas A&M University, College Station, TX 77843-3123brasmussen@tamu.edu

Young Joon Chang

 Texas A&M University, College Station, TX 77843-3123

J. Dyn. Sys., Meas., Control 132(1), 011007 (Dec 09, 2009) (12 pages) doi:10.1115/1.4000075 History: Received December 10, 2008; Revised May 22, 2009; Published December 09, 2009; Online December 09, 2009

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.

FIGURES IN THIS ARTICLE
<>
Copyright © 2010 by American Society of Mechanical Engineers
Your Session has timed out. Please sign back in to continue.

References

Figures

Grahic Jump Location
Figure 1

Output blending of LCN and LQN

Grahic Jump Location
Figure 2

General feedback control diagram

Grahic Jump Location
Figure 3

Youla parameter-based feedback control diagram

Grahic Jump Location
Figure 7

Disturbance rejection at design conditions

Grahic Jump Location
Figure 8

Tracking during transition between design conditions

Grahic Jump Location
Figure 9

Tracking during transition between design and off-design conditions

Grahic Jump Location
Figure 4

Quadratic weighting function for a two-dimensional scheduling space

Grahic Jump Location
Figure 5

Quadruple tank system and selected operating points

Grahic Jump Location
Figure 6

Step response of PI and H∞ controlled systems at associated design points

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In