LPV design for a CD player: an experimental evaluation of performance

We present the experimental evaluation of the performance achieved by a linear parametrically varying (LPV) control design for a compact disc player servomechanism. Experimental results show that LPV techniques allow one to obtain better performance than the linear time invariant design. Furthermore, we show that the use of a parameter-independent Lyapunov matrix in the synthesis algorithm does not introduce conservatism in our design, as it would be theoretically expected. We prove that in the case of a single scheduling parameter, the use of block-diagonal multipliers is not more conservative than that of full-block multipliers. We also provide an algorithm for the construction of a scheduling function which is alternative to that presented by Scherer (2000) and which is more suitable for real-time implementation.