H_ loop shaping control of input saturated systems with norm-bounded parametric uncertainty
Summary: This paper proposes a gain-scheduling control design strategy for a class of linear systems with the presence of both input saturation constraints and norm-bounded parametric uncertainty. LMI conditions are derived in order to obtain a gain-scheduled controller that ensures the robust stability and performance of the closed loop system. The main steps to obtain such a controller are given. Differently from other gain-scheduled approaches in the literature, this one focuses on the problem of \(H_{\infty}\) loop shaping control design with input saturation nonlinearity and norm-bounded uncertainty to reduce the effect of the disturbance input on the controlled outputs. Here, the design problem has been formulated in the four-block \(H_{\infty}\) synthesis framework, in which it is possible to describe the parametric uncertainty and the input saturation nonlinearity as perturbations to normalized coprime factors of the shaped plant. As a result, the shaped plant is represented as a Linear Parameter-Varying (LPV) system while the norm-bounded uncertainty and input saturation are incorporated. This procedure yields a linear parameter-varying structure for the controller that ensures the stability of the polytopic LPV shaped plant from the vertex property. Finally, the effectiveness of the method is illustrated through application to a physical system: a Vertical Taking-Off Landing' ( VTOL) helicopter.
- Robust control of uncertain LTI plant with input saturation constraint: H ∞ loop-shaping approach
- \({H_\infty}\) control of uncertain nonlinear systems with input constraints
- A linear matrix inequality approach to parametric \(H_{\infty }\) loop shaping control
- H_ control of uncertain continuous system with state saturation
- scientific article; zbMATH DE number 850110
- \(\mathcal{H}_\infty\) control of continuous-time uncertain linear systems with quantized-input saturation and external disturbances
- Output feedback \(\mathcal{H}_\infty\) loop-shaping controller synthesis
- Synthesis of optimal H-infinity controllers via H2-based loop-shaping design
- H/sub ∞/ control of systems under norm bounded uncertainties in all system matrices
- Robust H/sub infinity / control for linear systems with norm-bounded time-varying uncertainty
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- A linear matrix inequality approach to H∞ control
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- Anti‐windup compensator synthesis for systems with saturation actuators
- Disturbance attenuation for systems with input saturation: An LMI approach
- Explicit controller formulas for LMI-based \(H_ \infty\) synthesis
- Incorporating Robustness Requirements Into Antiwindup Design
- Mathematical methods for robust and nonlinear control. EPSRC summer school, Leicester, UK, September 2006.
- Multivariable anti-windup controller synthesis using linear matrix inequalities
- Output feedback design for saturated linear plants using deadzone loops
- Output feedback H∞ control of systems with parameter uncertainty
- Output feedback robust stabilization of uncertain linear systems with saturating controls: an LMI approach
- Robust control with structure perturbations
- Robust H/sub infinity / control for linear systems with norm-bounded time-varying uncertainty
- Scheduled controllers for linear systems with bounded actuators.
- Self-scheduled \({\mathcal H}_ \infty\) control of linear parameter-varying systems: A design example
- Set invariance analysis and gain-scheduling control for LPV systems subject to actuator saturation
- Simultaneous linear and anti-windup controller synthesis using multiobjective convex optimization
- Using SeDuMi 1.02, A Matlab toolbox for optimization over symmetric cones
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