Abstract
Switching or blending among controllers is termed controller interpolation. This paper investigates a robust controller interpolation technique and applies it to an experimental test bed. Although an interpolated controller is composed of linear timeinvariant (LTI) controllers stabilizing the LTI plant, closed-loop performance and stability are not guaranteed. Thus, it is of interest to design the interpolated controller to guarantee closedloop stability and a performance level for all interpolation signals describing controller switching sequences and combinations. The performance metric that is under investigation in this paper is the H∞ norm. A suboptimal robust interpolated-controller design algorithm is framed in terms of bilinear matrix inequalities. The motivating example demonstrates the efficacy of the robust interpolated- controller design.
| Original language | English (US) |
|---|---|
| Article number | 4895694 |
| Pages (from-to) | 1-10 |
| Number of pages | 10 |
| Journal | IEEE Transactions on Control Systems Technology |
| Volume | 18 |
| Issue number | 1 |
| DOIs | |
| State | Published - Jan 2010 |
| Externally published | Yes |
Bibliographical note
Funding Information:Manuscript received October 02, 2006. Manuscript received in final form November 03, 2008. First published April 28, 2009; current version published December 23, 2009. Recommended by Associate Editor C. R. Knospe. This work was supported in part by the Center for Compact and Efficient Fluid Power under Grant Army W911NF-04-1-0067 and in part by Caterpillar, Inc.
Keywords
- Controller interpolation
- Gain-scheduling
- H-infinity control
- Suboptimal control
- Switched systems