An $H_\infty$ LPV Design for Sampling Varying Controllers~: Experimentation with a T Inverted Pendulum - Inria - Institut national de recherche en sciences et technologies du numérique
Rapport (Rapport De Recherche) Année : 2007

An $H_\infty$ LPV Design for Sampling Varying Controllers~: Experimentation with a T Inverted Pendulum

Olivier Sename
Daniel Simon

Résumé

This report 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
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Dates et versions

inria-00193865 , version 1 (04-12-2007)
inria-00193865 , version 2 (05-12-2007)
inria-00193865 , version 3 (27-01-2009)

Identifiants

  • HAL Id : inria-00193865 , version 1

Citer

David Robert, Olivier Sename, Daniel Simon. An $H_\infty$ LPV Design for Sampling Varying Controllers~: Experimentation with a T Inverted Pendulum. [Research Report] 2007, pp.25. ⟨inria-00193865v1⟩
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