An H∞ LPV design for sampling varying controllers: Experimentation with a T-inverted pendulum

IEEE Transactions on Control Systems Technology

Volumn 18, Issue 3, 2010, Pages 741-749

  Robert, David ^a   Sename, Olivier ^a   Simon, Daniel ^b  

^a CNRS   (France)

^b INRIA RHÔNE ALPES   (France)

Author keywords

Digital control; H control; Linear parameter varying (LPV) systems; Real experiments

Indexed keywords

COMPUTING RESOURCE; CONTROLLER IMPLEMENTATION; DIGITAL CONTROL; DISCRETE-TIME MODEL; INVERTED PENDULUM; LINEAR PARAMETER VARYING (LPV) SYSTEMS; LINEAR PARAMETER VARYING SYSTEMS; POLYTOPES; REAL-TIME CONTROLLERS; SAMPLING PERIOD;

DIGITAL CONTROL SYSTEMS; EXPERIMENTS; PENDULUMS;

CONTROLLERS;

EID: 77951877961     PISSN: 10636536     EISSN: None     Source Type: Journal    
DOI: 10.1109/TCST.2009.2026179     Document Type: Article

References (19)

1. A. Cervin and J. Eker, "Feedback scheduling of control tasks, " presented at the 39th IEEE Conf. Dec. Control, Sydney, Australia, Dec. 2000.
2. A. Cervin, J. Eker, B. Bernhardsson, and K. Årzén, "Feedback-feedforward scheduling of control tasks, " Real-Time Syst., vol. 23, no. 1-2, pp. 25-53, Jul. 2002.
3. J. Eker, P. Hagander, and K. Årzén, "A feedback scheduler for real-time controller tasks, " Control Eng. Practice, vol. 8, no. 12, pp. 1369-1378, Dec. 2000.
4. D. Simon, D. Robert, and O. Sename, "Robust control/scheduling co-design: Application to robot control, " presented at the 11th IEEE Real-Time Embedded Technol. Appl. Symp., San Francisco, CA, Mar. 2005.
5. D. Robert, O. Sename, and D. Simon, "Sampling period dependent RST controller used in control/scheduling co-design, " presented at the 16th IFAC World Congr., Prague, Czech Republic, Jul. 2005.
6. K. Tan, K.-M. Grigoriadis, and F. Wu, "Output-feedback control of LPV sampled-data systems, " Int. J. Control, vol. 75, no. 4, pp. 252-264, 2002.
7. A. Sala, "Computer control under time-varying sampling period: An LMI gridding approach, " Automatica, vol. 41, no. 12, pp. 2077-2082, 2005.
8. D. Robert, O. Sename, and D. Simon, "Synthesis of a sampling period dependent controller using LPV approach, " presented at the 5th IFAC Symp. Robust Control Des. (ROCOND), Toulouse, France, Jul. 2006.
9. D. Robert, O. Sename, and D. Simon, "A reduced polytopic LPV synthesis for a sampling varying controller: Experimentation with a t inverted pendulum, " presented at the Eur. Control Conf. (ECC), Kos, Greece, Jul. 2007.
10. ∞ control of linear parameter-varying systems: A design example, " Automatica, vol. 31, no. 9, pp. 1251-1262, 1995.
11. J.-M. Biannic, "Commande robuste des systèmesà paramètres variables, " Ph. D. dissertation, ENSAE, Toulouse, France, 1996.
12. P. Apkarian and R. Adams, "Advanced gain-scheduling techniques for uncertain systems, " IEEE Trans. Control Syst. Technol., vol. 6, no. 1, pp. 21-32, Jan. 1998.
13. A. Packard, "Gain scheduling via linear fractional transformations, " Syst. Control Lett., vol. 22, pp. 79-92, 1994.
14. K. J. Åström and B. Wittenmark, Computer-Controlled Systems, 3rd ed. Englewood Cliffs, NJ: Prentice-Hall, 1997, Information and Systems Sciences Series.
15. S. Boyd and L. Vandenberghe, Convex Optimization. Cambridge, U. K.: Cambridge University Press, 2004.
16. O.-R. Natale, O. Sename, and C. C. de Wit, "Inverted pendulum stabilization through the ethernet network, performance analysis, " presented at the IEEE Amer. Control Conf., Boston, MA, Jun.-Jul. 2004.
17. H. Olsson, K.-J. Aström, C. C. de Wit, M. Gäfvert, and P. Lischinsky, "Friction models and friction compensation, " Eur. J. Control, no. 4, pp. 176-195, 1998.
18. ∞ norm characterizations and controller parametrizations for discrete-time systems, " Int. J. Control, vol. 75, no. 9, pp. 666-679, 2002.
19. D. Robert, "Contribution to control and scheduling interaction, " (in French) Ph. D. dissertation, INPG - Laboratoire d'Automatique de Grenoble, Grenoble, France, 2007.