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Robust gain-scheduled control of a class of nonlinear parameter-dependent systems: application to an uncertain inverted pendulum

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2 Author(s)
Dussy, S. ; Lab. de Math. Appliquees, Ecole Nat. Superieure de Tech. Avancees, Paris, France ; El Ghaoui, L.

Given a nonlinear parameter-dependent system, we seek an output feedback controller such that the closed-loop system satisfies a number of specifications. Our specifications include stability, command input and output peak bounds. The controller state-space matrices are allowed to depend on a set of measured parameters and/or nonlinearities, if any. Our specifications must be satisfied robustly with respect to the remaining (unmeasured) parameters and/or nonlinearities. We derive sufficient conditions that ensure the existence of such a “mixed” gain-scheduled/robust controller. These conditions are LMIs, associated with a set of nonconvex conditions. We propose an efficient heuristic to solve them, and illustrate our design method with an inverted pendulum example

Published in:

Control Applications, 1996., Proceedings of the 1996 IEEE International Conference on

Date of Conference:

15-18 Sep 1996