A reduced polytopic LPV synthesis for a sampling varying controller : experimentation with a T inverted pendulum - Inria - Institut national de recherche en sciences et technologies du numérique
Communication Dans Un Congrès Année : 2007

A reduced polytopic LPV synthesis for a sampling varying controller : experimentation with a T inverted pendulum

Olivier Sename
Daniel Simon

Résumé

This paper deals with the adaptation of a real-time 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 $H_{\infty}$ 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.

Domaines

Automatique
Fichier principal
Vignette du fichier
drosds518.pdf (708.37 Ko) Télécharger le fichier
Origine Fichiers produits par l'(les) auteur(s)

Dates et versions

inria-00193862 , version 1 (04-12-2007)

Identifiants

  • HAL Id : inria-00193862 , version 1

Citer

David Robert, Olivier Sename, Daniel Simon. A reduced polytopic LPV synthesis for a sampling varying controller : experimentation with a T inverted pendulum. ECC 2007 - European Control Conference, Jul 2007, Kos, Greece. ⟨inria-00193862⟩
221 Consultations
287 Téléchargements

Partager

More