Gain scheduling the LPV way

Packard, Andy; Kantner, Michael

doi:10.1109/cdc.1996.577296

Cited by 43 publications

(19 citation statements)

References 22 publications

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“…Note that, in principle, when a single control system must be designed in order to guarantee the satisfactory closedloop operation of a given plant in many different operating conditions a genuine gain scheduling approach can be followed, see, e.g., [12], [20], [21], [22]. This framework asks to find one or more scheduling variables which completely parameterize the operating space of interest and to define a parametric family of linearized models for the plant associated with the set of operating points of interest.…”

Section: Identification Of the Throttle Dynamics And Controller Dementioning

confidence: 99%

Design and Validation of a Gain-Scheduled Controller for the Electronic Throttle Body in Ride-by-Wire Racing Motorcycles

Corno

Tanelli

Savaresi

et al. 2011

IEEE Trans. Contr. Syst. Technol.

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This paper presents the analysis, design and validation of a gain-scheduled controller for an electronic throttle body (ETB) designed for ride-by-wire applications in racing motorcycles. Specifically, the open-loop dynamics of the system are studied in detail discussing the effects of friction based on appropriate experiments. Further, a linear time invariant nominal model of the system to be controlled is experimentally identified via a frequency-domain black box approach, together with the uncertainty bounds on the model parameters. Based on these results a model-based gain-scheduled proportional-integral-differential (PID) controller for throttle position tracking is proposed. The closed-loop stability of the resulting linear parametrically varying (LPV) system is proved by checking the feasibility of an appropriate linear matrix inequality (LMI) problem, and the state space representation of the closed-loop LPV system is experimentally validated. Finally, the performance of the controlled system is compared to the intrinsic limit of the actuator and tested under realistic use, namely both on a test-bench employing as set-point the throttle position recorded during test-track experiments and on an instrumented motorcycle

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Section: Identification Of the Throttle Dynamics And Controller Dementioning

confidence: 99%

Design and Validation of a Gain-Scheduled Controller for the Electronic Throttle Body in Ride-by-Wire Racing Motorcycles

Corno

Tanelli

Savaresi

et al. 2011

IEEE Trans. Contr. Syst. Technol.

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“…LPV systems have state-space matrices that are fixed with some vector of varying parameters ( [3], [5]). From a practical point of view, a nonlinear system can be reduced to an LPV representation by using the linearization along trajectories of the parameters ( [16], [19], [20]). Here, instead of choosing a combination of predefined linear models, the models change parametrically.…”

Section: General Overview Of Lpv Approachmentioning

confidence: 99%

LPV fault estimation and FTC of a two-link manipulator

Patton

Klinkhieo

2010

Proceedings of the 2010 American Control Conference

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This work is motivated by the challenge to develop an adaptive strategy for systems that are complex, have actuator faults and are difficult to control using linear methods. The novelty lies in combined use of LPV fault estimation and LPV fault compensation to meet active FTC performance requirements. The paper proposes a new design approach for systems which can be characterized via sets of LMIs and can be obtained using efficient interior-point algorithms. A polytopic LPV estimator is synthesized for generating actuator fault estimates used in an FTC scheme to schedule the nominal system state feedback gain, thereby maintaining the system performance over a wide operating range within a proposed polytopic model. The active FTC controller is a function of fault effect factors derived on-line. The effectiveness of the proposed method is demonstrated through a nonlinear two-link manipulator system with torque input faults at each joint.

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“…Traditional gain-scheduling methods are inherently ad hoc and the resulting scheduled controller provide no stability or performance guarantee for rapid changes in the scheduling variables [5]. These issues were the main motivation for the current research on multivariable gain-scheduled control techniques which have become known as control of linear, parameter varying (LPV) systems [11][12][13][14][15][16][17]. Parameter-dependent systems are linear systems, whose state-space descriptions are known functions of time-varying parameters.…”

Section: Parameter Varying Systemsmentioning

confidence: 99%

Linear, parameter‐varying control and its application to a turbofan engine

Balas

2002

Intl J Robust & Nonlinear

189

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SUMMARYThis paper describes application of parameter-dependent control design methods to a turbofan engine. Parameter-dependent systems are linear systems, whose state-space descriptions are known functions of time-varying parameters. The time variation of each of the parameters is not known in advance, but is assumed to be measurable in real-time. Three linear, parameter-varying (LPV) approaches to control design are discussed. The first method is based on linear fractional transformations which relies on the small gain theorem for bounds on performance and robustness. The other methods make use of either a single (SQLF) or parameter-dependent (PDQLF) quadratic Lyapunov function to bound the achievable level of performance. The latter two techniques are used to synthesize controllers for a high-performance turbofan engine. A LPV model of the turbofan engine is constructed from Jacobian linearizations at fixed power codes for control design. The control problem is formulated as a model matching problem in the H 1 and LPV framework. The objective is decoupled command response of the closed-loop system to pressure and rotor speed requests. The performance of linear, H 1 point designs are compared with the SQLF and PDQLF controllers. Nonlinear simulations indicate that the controller synthesized using the SQLF approach is slightly more conservative than the PDQLF controller. Nonlinear simulations with the SQLF and PDQLF controllers show very robust designs that achieve all desired performance objectives.

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Gain scheduling the LPV way

Cited by 43 publications

References 22 publications

Design and Validation of a Gain-Scheduled Controller for the Electronic Throttle Body in Ride-by-Wire Racing Motorcycles

Design and Validation of a Gain-Scheduled Controller for the Electronic Throttle Body in Ride-by-Wire Racing Motorcycles

LPV fault estimation and FTC of a two-link manipulator

Linear, parameter‐varying control and its application to a turbofan engine

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