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control of LPV systems with saturating actuators: Pólya approach
Author(s) -
Delibaşı Akın,
Kucukdemiral Ibrahim B.,
Cansever Galip
Publication year - 2011
Publication title -
optimal control applications and methods
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.458
H-Index - 44
eISSN - 1099-1514
pISSN - 0143-2087
DOI - 10.1002/oca.1025
Subject(s) - control theory (sociology) , inverted pendulum , actuator , linear matrix inequality , lyapunov function , bounded function , linear system , computer science , controller (irrigation) , mathematics , nonlinear system , mathematical optimization , control (management) , physics , mathematical analysis , quantum mechanics , artificial intelligence , agronomy , biology
SUMMARY This paper addresses the design problem of L 2 , gain‐scheduling non‐linear state‐feedback controller for linear parameter varying (LPV) systems, subjected to actuator saturations and bounded energy disturbances, by using parameter‐dependent type Lyapunov functions. The paper provides a systematic procedure to generate a sequence of linear matrix inequality (LMI) type conditions of increasing precision for obtaining a suboptimal L 2 state‐feedback controller. The presented method utilizes the modified sector condition for formalization of actuator saturation and homogeneous polynomial parameter‐dependent representation of LPV systems. Both simulations and experimental studies on an inverted pendulum on a cart system illustrate the benefits of the approach. Copyright © 2011 John Wiley & Sons, Ltd.