Gain-Scheduled Controller Design
Doctoral thesis, 2015

This thesis is devoted to controller synthesis, i.e. to finding a systematic procedure to determine the optimal (sub-optimal) controller parameters which guarantees the closed-loop stability and guaranteed cost for uncertain nonlinear systems with considering input/output constraints, all this without on-line optimization. The controller in this thesis is given in a feedback structure that is, the controller has information about the system and uses this information to influence the system. In this thesis the linear parameter-varying based gain scheduling is investigated. The nonlinear system is transformed to a linear parameter-varying system, which is used to design a controller, i.e. a gain-scheduled controller with consideration of the objectives on the system. The gain-scheduled controller synthesis in this thesis is based on the Lyapunov theory of stability as well as on the Bellman-Lyapunov function. Several forms of parameter dependent/quadratic Lyapunov functions are presented and tested. To achieve performance quality a quadratic cost function and its modifications known from LQ theory are used. In this thesis one can find also an application of gain scheduling in switched and in model predictive control with consideration of input/output constraints. The main results for controller synthesis are in the form of bilinear matrix inequalities (BMI) and/or linear matrix inequalities (LMI). For controller synthesis one can use a free and open source BMI solver PenLab or LMI solvers LMILab or SeDuMi. The synthesis can be done in a computationally tractable and systematic way, therefore the linear parameter-varying based gain scheduling approach presented in this thesis is a worthy competitor to other controller synthesis methods for nonlinear systems.

Guaranteed cost control

Gain-scheduled control

Bellman-Lyapunov function

Lyapunov theory of stability

Robust control

Input/output constraints

LPV system

D424 at Institute of Robotics and Cybernetics, Faculty of Electrical Engineering and Information Technology, Slovak University of Technology in Bratislava, Ilkovičova 3, 812 19 Bratislava
Opponent: 1) prof. Ing. Dušan Krokavec, CSc.; Department of Cybernetics and Artificial Intelligence, Faculty of Electrical Engineering and Informatics, Technical University of Košice, Letná 9/B, 042 00 Košice. 2) prof. Ing. Mikuláš Alexík, PhD.; Department of Technical Cybernetics, Faculty of Management Science and Informatics, University of Žilina, Univerzitná 1, 010 26 Žilina.

Author

Adrian Ilka

Chalmers, Signals and Systems, Signalbehandling och medicinsk teknik, Signal Processing

Unified Robust Gain-Scheduled and Switched Controller Design for Linear Continuous-Time Systems

International Review of Automatic Control,; Vol. 8(2015)p. 251-259

Journal article

Gain-Scheduled MPC Design for Nonlinear Systems with Input Constraints

IFAC Proceedings Volumes (IFAC-PapersOnline), 1st IFAC Conference on Modelling, Identification and Control of Nonlinear Systems, MICNON 2015; Saint Petersburg; Russian Federation; 24 June 2015 through 26 June 2015; Code 117503,; Vol. 48(2015)p. 912-917

Paper in proceedings

Robust Controller Design for T1DM Individualized Model: Gain-Scheduling Approach

International Review of Automatic Control,; Vol. 8(2015)p. 155-162

Journal article

Design of robust gain-scheduled PI controllers

Journal of the Franklin Institute,; Vol. 352(2015)p. 1476-1494

Journal article

Robust gain–scheduled PID controller design for uncertain LPV systems

Journal of Electrical Engineering,; Vol. 66(2015)p. 19-25

Journal article

Gain–Scheduled Controller Design: Variable Weighting Approach

Journal of Electrical Engineering,; Vol. 65(2014)p. 116-120

Journal article

Robust Switched Controller Design for Nonlinear Continuous Systems

IFAC Proceedings Volumes (IFAC-PapersOnline), 1st IFAC Conference on Modelling, Identification and Control of Nonlinear Systems, MICNON 2015; Saint Petersburg; Russian Federation; 24 June 2015 through 26 June 2015; Code 117503,; Vol. 48(2015)p. 1068-1073

Paper in proceedings

Gain-Scheduled PID Controller Design

Journal of Process Control,; Vol. 23(2013)p. 1141-1148

Journal article

Subject Categories

Control Engineering

Publisher

Chalmers University of Technology

D424 at Institute of Robotics and Cybernetics, Faculty of Electrical Engineering and Information Technology, Slovak University of Technology in Bratislava, Ilkovičova 3, 812 19 Bratislava

Opponent: 1) prof. Ing. Dušan Krokavec, CSc.; Department of Cybernetics and Artificial Intelligence, Faculty of Electrical Engineering and Informatics, Technical University of Košice, Letná 9/B, 042 00 Košice. 2) prof. Ing. Mikuláš Alexík, PhD.; Department of Technical Cybernetics, Faculty of Management Science and Informatics, University of Žilina, Univerzitná 1, 010 26 Žilina.

More information

Latest update

6/8/2018 7