Gain Scheduled Control with Youla Interpolation Conditions: A Design Example

A new Linear Parameter Varying dynamic output feedback controller design technique is presented based on the Youla-Kucera Interpolation Conditions. The original method, used for Linear Time Invariant systems, is extended to Linear Parameter Varying systems. The application of this technique is demonstrated and validated with the design of a path-tracking controller for an Automated Driving System. The validation uses a CarSim-Simulink co-simulation that incorporates two different environment models. Simulation results for two aggressive maneuvers show that the resulting controller performs well in normal and low-friction environments with severe external disturbances.