Gain-scheduling of minimax optimal state-feedback controllers for uncertain linear parameter-varying systems

摘要

This paper presents a gain-scheduling of minimax optimal controllers for a general class of uncertain linear parameter-varying (LPV) systems. The proposed gain-scheduled controller consists of a set of minimax optimal controllers designed for several operating points and incorporates a new interpolation rule to achieve the continuity of the controller gain over a range of operating conditions. It is shown that for every fixed system parameter, the proposed controller guarantees a certain bound on the worst-case performance of the corresponding uncertain closed loop system. Furthermore, it is shown that the closed loop LPV system is robustly stable provided that the rate of parameter variations satisfies a given bound. A numerical example is presented to illustrate the proposed design procedure.