Robust Gain-Scheduled PSD Controller Design from Educational Perspective
Paper in proceedings, 2016

Nowadays, the demand for qualified engineers in novel model-based controller design techniques is rapidly increasing. Therefore, it is necessary to include these up-to-date techniques in control theory courses. We are confident that this paper provides a motivation for embedding new linear/bilinear matrix inequality (LMI/BMI) -based approaches in topic-related courses and student projects. Within this paper a systematic design framework for robust discrete-time gain-scheduled proportional, summation, and difference (PSD) controller design for uncertain linear parameter-varying systems is presented. Conditions to satisfy robust stability and performance requirements are translated to an optimization problem subject to LMI/BMI constraints which students can easily solve using commercial as well as free and open source software tools and solvers. Two student project examples are given to illustrate and validate the proposed methodology.

Octave

Robust control

Lyapunov theory of stability

Guaranteed cost

Gain scheduling

LMI

Matlab

Linear parameter-varying systems

BMI

Scilab/Xcos.

Author

Adrian Ilka

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

Vojtech Veselý

Slovak University of Technology Bratislava

Tomas McKelvey

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

IFAC-PapersOnLine

24058963 (eISSN)

Vol. 49 6 354-359

Areas of Advance

Transport

Subject Categories

Control Engineering

DOI

10.1016/j.ifacol.2016.07.203

More information

Latest update

9/6/2018 1