Gain-Scheduled H_∞ Controllers being Derivative-Free of Scheduling Parameters via Parameter-Dependent Lyapunov Functions

摘要

When Gain-Scheduled (GS) H_∞ output-feedback controllers are designed for continuous-time Linear Parameter-Varying (LPV) systems via Parameter-Dependent Lyapunov Functions (PDLFs) using existing design methods, the designed controllers depend not only on the scheduling parameters but also on their derivatives. However, estimating parameters in real-time is a difficult task, obtaining their derivatives is even harder, if not impossible in the real world. In this paper, we propose a new design method for GS H_∞ output-feedback controllers, which depend solely on the scheduling parameters, via PDLFs. It is also shown that our method is no more conservative than the conventional design methods via constant Lyapunov functions or via some particularly structured PDLFs. A numerical example which demonstrates the effectiveness of our method is included.