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An H_{\infty } LPV Design for Sampling Varying Controllers: Experimentation With a T-Inverted Pendulum

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3 Author(s)
Robert, D. ; Control Syst. Dept., GIPSA-Lab., St. Martin d''Heres, France ; Sename, O. ; Simon, D.

This brief deals with the adaptation of a real-time controller's sampling period to account for the available computing resource variations. The design of such controllers requires a parameter-dependent discrete-time model of the plant, where the parameter is the sampling period. A polytopic approach for linear parameter varying (LPV) systems is then developed to get an H sampling period dependent controller. A reduction of the polytope size is here performed which drastically reduces the conservatism of the approach and makes easier the controller implementation. Some experimental results on a T-inverted pendulum are provided to show the efficiency of the approach.

Published in:

Control Systems Technology, IEEE Transactions on  (Volume:18 ,  Issue: 3 )