NDLI: Robust gain-scheduled control of a class of nonlinear parameter-dependent systems: application to an uncertain inverted pendulum

Content Provider	IEEE Xplore Digital Library
Author	Dussy, S. El Ghaoui, L.
Copyright Year	1996
Description	Author affiliation: Lab. de Math. Appliquees, Ecole Nat. Superieure de Tech. Avancees, Paris, France (Dussy, S.)
Abstract	Given a nonlinear parameter-dependent system, we seek an output feedback controller such that the closed-loop system satisfies a number of specifications. Our specifications include stability, command input and output peak bounds. The controller state-space matrices are allowed to depend on a set of measured parameters and/or nonlinearities, if any. Our specifications must be satisfied robustly with respect to the remaining (unmeasured) parameters and/or nonlinearities. We derive sufficient conditions that ensure the existence of such a "mixed" gain-scheduled/robust controller. These conditions are LMIs, associated with a set of nonconvex conditions. We propose an efficient heuristic to solve them, and illustrate our design method with an inverted pendulum example.
Starting Page	516
Ending Page	521
File Size	534445
Page Count	6
File Format	PDF
ISBN	0780329759
DOI	10.1109/CCA.1996.558910
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1996-09-15
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robust control Nonlinear control systems Control systems Symmetric matrices Control nonlinearities Output feedback Stability Robustness Sufficient conditions Design methodology
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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