An Hinf LPV design for sampling varying controllers : experimentation with a T inverted pendulum - Archive ouverte HAL Access content directly
Journal Articles IEEE Transactions on Control Systems Technology Year : 2010

An Hinf LPV design for sampling varying controllers : experimentation with a T inverted pendulum

Abstract

This paper deals with the adaptation of a realtime controller's sampling period to account for the available computing resource variations. The design of such controllers requires a parameter-dependent discrete-time model of the plant, where the parameter is the sampling period. A polytopic approach for LPV (Linear Parameter Varying) systems is then developed to get an Hinf sampling period dependent controller. A reduction of the polytope size is here performed which drastically reduces the conservatism of the approach and makes easier the controller implementation. Some experimental results on a T inverted pendulum are provided to show the efficiency of the approach.
Fichier principal
Vignette du fichier
TCST-2008-0145_R1.tex.pdf (527.13 Ko) Télécharger le fichier
Origin : Files produced by the author(s)

Dates and versions

hal-00448496 , version 1 (19-01-2010)

Identifiers

Cite

David Robert, Olivier Sename, Daniel Simon. An Hinf LPV design for sampling varying controllers : experimentation with a T inverted pendulum. IEEE Transactions on Control Systems Technology, 2010, 18 (3), pp.741-749. ⟨10.1109/TCST.2009.2026179⟩. ⟨hal-00448496⟩
404 View
444 Download

Altmetric

Share

Gmail Facebook X LinkedIn More