Toward nonlinear tracking and rejection using LPV control

Gérard Scorletti (1) , Vincent Fromion (2) , Safta de Hillerin (3)

1 MIS - Ampère, Département Méthodes pour l'Ingénierie des Systèmes
2 MIG - Unité Mathématique Informatique et Génome
3 E3S - Supélec Sciences des Systèmes

(Quasi) LPV control and more generally L2 gain control methods, referred to as nonlinear H ∞ control ones, are usually applied in order to ensure reference tracking and disturbance rejection. In this paper, we exhibit a counterexample that reveals that these specifications can not be ensured by these methods. We then propose a new LPV based approach in order to a priori ensure these specifications by combining the LPV method with the incremental L 2 gain analysis of nonlinear performance. Its benefit is illustrated on the counterexample.

Mots clés: dependent lyapunov functions; h-infinity control; gain; systems

Domaines: Automatique / Robotique

Gérard Scorletti, Vincent Fromion, Safta de Hillerin. Toward nonlinear tracking and rejection using LPV control. LPVS, Oct 2015, Grenoble, France. pp.13 - 18, ⟨10.1016/j.ifacol.2015.11.106⟩. ⟨hal-01862973⟩