On robust LPV controller synthesis: A dynamic Integral Quadratic Constraint based approach

In this paper the design of robust Linear Parameter Varying (LPV) controllers is addressed. A novel controller/scaling algorithm based on dynamic Integral Quadratic Constraints (IQCs) is proposed that completely avoids gridding as well as curve-fitting. Although, in this paper, we restrict our attention to dynamic DG-scalings, the techniques allow for generalization to the use of arbitrary real-rational IQC multipliers with no poles on the extended imaginary axis. While the classical μ-synthesis approach is restricted to the use of real/complex time-invariant or arbitrarily fast time-varying parametric uncertainties, the IQC framework can be employed for a much larger class of uncertainties involving nonlinearities and bounds on rates of time-varying parametric uncertainties. Moreover, the proposed techniques have a great potential for solutions of the nominal dynamic IQC based LPV controller synthesis problem in terms of LMIs.