Reduced-order estimator based linear quadratic robust tracking control of polytopic LPV systems by integrating preview action and integral regulation

摘要

A reduced-order state estimator based robust linear quadratic optimal tracking control policy is proposed for a class of polytopic linear parameter varying (LPV) systems in this paper. Compared with the existing works, the results of this paper have two main merits. Firstly, the constructed design method of reduced-order estimator can avoid the traditional requirement of system output decomposition. Thus the cases of LPV systems with unknown disturbance in output can be handled. From this respect, more wide application can be expected by our method. Secondly, by integrating state feedback, preview action, and integral regulation, a novel tracking control scheme for LPV systems is further proposed. In particular, the introduced preview action can improve the tracking accuracy significantly. Finally, the effectiveness of these conclusions are validated by a case study of cart-spring system.