Direct identification of continuous-time LPV models

Vincent Laurain (1) , Marion Gilson (1) , Roland Toth (2) , Hugues Garnier (1)

1 CRAN - Centre de Recherche en Automatique de Nancy
2 DCSC - Delft Center for Systems and Control [Delft]

Controllers in the linear parameter-varying (LPV) framework are commonly designed in continuous-time (CT) requiring accurate and low-order CT models of the system. Nonetheless, most of the methods dedicated to the identification of LPV systems are addressed in discrete-time (DT) settings. In practice when discretizing models which are naturally expressed in CT, the dependency on the scheduling variables becomes non-trivial and over-parameterized. Consequently, direct identification of CT LPV systems in an input-output setting is investigated. To provide consistent model parameter estimates in this setting, a refined instrumental variable (IV) approach is proposed. The statistical properties of this approach is illustrated through a relevant Monte Carlo simulation example.

Domaines: Automatique / Robotique

Vincent Laurain, Marion Gilson, Roland Toth, Hugues Garnier. Direct identification of continuous-time LPV models. American Control Conference, ACC 2011, Jun 2011, San Francisco, United States. pp.CDROM. ⟨hal-00603629⟩