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An Hinf LPV design for sampling varying controllers : experimentation with a T inverted pendulum

David Robert 1 Olivier Sename 2, 1 Daniel Simon 1
1 NECS [2007-2015] - Networked Controlled Systems
Inria Grenoble - Rhône-Alpes, GIPSA-DA [2007-2015] - Département Automatique
2 GIPSA-SLR [2007-2015] - GIPSA - Systèmes linéaires et robustesse
GIPSA-DA [2007-2015] - Département Automatique
Abstract : This paper deals with the adaptation of a realtime 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 Hinf 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.
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Submitted on : Tuesday, January 19, 2010 - 10:46:46 AM
Last modification on : Thursday, July 9, 2020 - 5:02:05 PM
Document(s) archivé(s) le : Thursday, June 17, 2010 - 9:35:24 PM


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David Robert, Olivier Sename, Daniel Simon. An Hinf LPV design for sampling varying controllers : experimentation with a T inverted pendulum. IEEE Transactions on Control Systems Technology, Institute of Electrical and Electronics Engineers, 2010, 18 (3), pp.741-749. ⟨10.1109/TCST.2009.2026179⟩. ⟨hal-00448496⟩



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