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
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