LPV quadratic energy-motion regulators of electric scooters

This paper records a successful application of linear parameter-varying (LPV) technique to energy management upon DC electric scooters (ES). Postulating Dynamic Duality, we identify the ES dynamics into a LPV plant that captures the nonlinearity, whereof the steady and transient responses perfectly match with the measured data. Incorporation of this LPV plant with per-distance performances upon energy economy and motion dexterousness, being a generalized plant, is then served for the LPV-Pareto game-theoretic synthesis of energy-motion regulators. Embedding the regulators into a dsPIC microcontroller, we experiment to credit such a LPV parameterization and feedback in energy management. In this work, linear time-invariant (LTI) technique is also performed for comparison with the proposed LPV technique.