An H∞ LPV Design for Sampling Varying Controllers : Experimentation with a T Inverted Pendulum - Inria - Institut national de recherche en sciences et technologies du numérique Access content directly
Reports (Research Report) Year : 2007

An H∞ LPV Design for Sampling Varying Controllers : Experimentation with a T Inverted Pendulum

Olivier Sename
Daniel Simon

Abstract

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∞ 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
RR-6380.pdf (935.76 Ko) Télécharger le fichier
Origin : Files produced by the author(s)

Dates and versions

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

Identifiers

  • HAL Id : inria-00193865 , version 3

Cite

David Robert, Olivier Sename, Daniel Simon. An H∞ LPV Design for Sampling Varying Controllers : Experimentation with a T Inverted Pendulum. [Research Report] RR-6380, INRIA. 2007, pp.25. ⟨inria-00193865v3⟩
387 View
275 Download

Share

Gmail Facebook Twitter LinkedIn More