Robust Discrete-Time Gain-Scheduled Guaranteed Cost PSD Controller Design
Paper i proceeding, 2017

The most widely used controllers in industry are still the proportional, integral, and derivative (PID) and discrete-time proportional, summation, and difference (PSD) controllers, thanks to their simplicity and performance characteristics. However, with these conventional fixed gain controllers we could have difficulties to handle nonlinear or time-variant characteristics. The introduction of linear parameter-varying (LPV) systems led to various gain-scheduled controller design techniques in both state-space and frequency domain during the last 30 years. In spite of all these, there is still a lack of general approaches for advanced guaranteed cost PID/PSD controller design approaches for LPV systems. In this paper a new advanced controller design approach for discrete-time gain-scheduled guaranteed cost PSD controller design with input saturation and anti-windup is presented for uncertain LPV systems. In addition, the controller design problem is formulated in such a way, which gives convex dependency regarding the scheduled parameters. It results in a less conservative controller design compared to approaches using quadratic stability or the multiconvexity lemma and it's relaxations. Finally, a numerical example shows the benefits of the proposed approach.


Adrian Ilka

Chalmers, Signaler och system

Tomas McKelvey

Chalmers, Signaler och system

Proceedings of the 2017 21st International Conference on Process Control (PC), Štrbské Pleso, Slovakia, June 6 – 9,

54-59 7976188