Disturbance attenuation of LPV systems with bounded inputs (Q5959846)

A design technique is proposed for disturbance attenuation in linear parameter varying (LPV) systems with bounded inputs and zero initial conditions: \[ \begin{aligned} \dot x& = A(\rho(t))x + B_1w + B_2\text{SAT}(u),\\ z& = C_1x + D_{12}\text{SAT}(u),\\ y& = C_2x + D_{21}w,\\ \end{aligned} \] where \(x\in\mathbb R^n\), \(w\in\mathbb R^{n_w}\) is the disturbance input, \(u\in\mathbb R^{n_u}\) is the control input, \(z\in\mathbb R^{n_z}\) is the controlled output, and \(y\in\mathbb R^{n_y}\) is the measured output. The actuator constraints are handled via a typical LPV approach, in which the time varying parameter is related to the error between the command input and the actual input. Since these two signals are known in most applications, a standard LPV structure for the controller is possible. As a result, the design of controllers with bounded actuators is no more difficult -- fundamentally -- than the unconstrained control of the LPV system. The case of parameter dependent controllers based on parameter independent Lyapunov functions are studied, and controllers based on parameter dependent Lyapunov functions are discussed. To illustrate the results of the proposed method for the output feedback case, the lateral axis dynamics of the L-1011 aircraft is considered.