# 2007, English, Article edition: A reduced polytopic LPV synthesis for a sampling varying controller : experimentation with a T inverted pendulum Robert, David; Sename, Olivier; Simon, Daniel

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Bookmark: http://trove.nla.gov.au/version/207817
Physical Description
• text
Published
• HAL - CCSD
• 2007
Language
• English

### Edition details

Title
• A reduced polytopic LPV synthesis for a sampling varying controller : experimentation with a T inverted pendulum
Author
• Robert, David
• Sename, Olivier
• Simon, Daniel
Published
• HAL - CCSD
• 2007
Physical Description
• text
Subjects
Notes
• This paper deals with the adaptation of a real-time 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 $H_{\infty}$ 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.
• HAL:inria-00193862, version 1
• HAL:http:/​/​hal.inria.fr/​inria-00193862/​en/​
Language
• English
Contributed by
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