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Conference Papers Year : 2007

A reduced polytopic LPV synthesis for a sampling varying controller : experimentation with a T inverted pendulum

Olivier Sename
Daniel Simon

Abstract

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.
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Dates and versions

inria-00193862 , version 1 (04-12-2007)

Identifiers

  • HAL Id : inria-00193862 , version 1

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David Robert, Olivier Sename, Daniel Simon. A reduced polytopic LPV synthesis for a sampling varying controller : experimentation with a T inverted pendulum. ECC 2007 - European Control Conference, Jul 2007, Kos, Greece. ⟨inria-00193862⟩
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