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This paper proposes to address the problem of fixed-structure gain-scheduled LPV/LFT controllers for plants with time-varying measurable and time invariant unmeasurable uncertainties. Due to the complexity of merging μ-technics with LPV/LFT approach, an alternative presented here consists in computing robust fixed-structure LPV/LFT controllers using the multiple plants framework instead of μ-technics. The complexity of this optimization problem is tackled with global evolutionary optimization. This paper shows that this approach is quite efficient and very simple to implement. The algorithm has been tested on the pendulum in the cart academic example.

Evolutionnary Fixed-Structure LPV/LFT Controller Synthesis for Multiple Plants