Robust Gain-Scheduled PID Controller Design with Guaranteed Cost
Conference contribution, 2016

A novel unified approach to design of robust controller, gain-scheduled controller (GSC), and robust switched controller with arbitrarily switching algorithm is presented. The proposed design procedure is based on the Bellman-Lyapunov equation, guaranteed cost, and robust stability conditions using parameter-dependent quadratic stability approach. The obtained feasible design procedures for robust, GSC, and switched controller design are in the form of bilinear matrix inequalities with guaranteed convex stability conditions. The obtained design results and their properties are illustrated in simulation examples.

Robust controller

Bellman-Lyapunov equation

Switched controller

Parameter-dependent Lyapunov function

Gain-scheduled controller


Adrian Ilka

Chalmers, Signals and Systems

Vojtech Veselý

Reglermöte 2016


Areas of Advance


Subject Categories

Control Engineering

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