A computationally efficient approach for robust gain-scheduled output-feedback LQR design for large-scale systems
Paper i proceeding, 2020

This paper proposes a novel and simple control design procedure for sub-optimal robust gain-scheduled (GS) output-feedback linear quadratic regulator (LQR) design for large-scale uncertain linear parameter-varying (LPV) systems. First, we introduce a simple and practical technique to convexify the controller design problem in the scheduled parameters. Then, we propose a computationally efficient iterative Newton-based approach for gain-scheduled output-feedback LQR design. Next, we propose a simple modification to the proposed algorithm to design robust GS controllers. Finally, the proposed algorithm is applied for air management and fueling strategy of diesel engines, where the designed robust GS proportional-integral-derivative (PID) controller is validated on a benchmark model using real-world road profile data.

Diesel engine

Linear quadratic regulator

Gain-scheduled control

Linear parameter-varying systems

Air-path system

Robust control


Adrian Ilka

Water Construction Company

Nikolce Murgovski

Chalmers, Elektroteknik, System- och reglerteknik, Mekatronik


24058963 (eISSN)

Vol. 53 2 5988-5993

21st IFAC World Congress 2020
Berlin, Germany,




Datavetenskap (datalogi)



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