A robust controller interpolation design technique

Brandon Hencey, Andrew G. Alleyne

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Scopus citations


In this paper, a robust controller interpolation technique is investigated and applied to an experimental test bed. Controller interpolation describes the process of switching or blending among a family of controllers. The proposed approach allows the individual controller designs to be decoupled by designing the controller interpolation after the family of controllers is designed. In contrast, the 'self-scheduled' linear parameter varying techniques simultaneously design the family of controllers and the controller interpolation, thereby coupling the individual controller designs to one another. The presented controller interpolation framework uses the classic controller blending framework augmented by stabilizing compensators. The synthesis conditions for the stabilizing compensators maximizing robust stability is stated in terms of a set of bilinear matrix inequalities (BMI). In the motivating example, the stabilizing compensators are designed by using a search that is locally minimizing over the robustness metric.

Original languageEnglish (US)
Title of host publicationProceedings of the 2007 American Control Conference, ACC
Number of pages7
StatePublished - 2007
Externally publishedYes
Event2007 American Control Conference, ACC - New York, NY, United States
Duration: Jul 9 2007Jul 13 2007

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619


Other2007 American Control Conference, ACC
Country/TerritoryUnited States
CityNew York, NY


  • Controller interpolation
  • Linear parameter varying
  • Linear systems
  • Matrix inequalities


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