inria-00193865, version 3
An H∞ LPV Design for Sampling Varying Controllers : Experimentation with a T Inverted Pendulum
N° RR-6380 (2007)
Abstract: This report 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∞ 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.
- a – Institut National Polytechnique de Grenoble - INPG
- b – INRIA
- 1:
- CNRS : UMR5216 – INRIA – Gipsa-lab – Université Joseph Fourier - Grenoble I – Institut National Polytechnique de Grenoble (INPG)
- Domain : Computer Science/Automatic Control Engineering
- Internal note : RR-6380
- Comment : Version préliminaire d'un article soumis à la revue "IEEE Transactions on Control Systems Technology"
- Available versions : v1 (2007-12-04) v2 (2007-12-05) v3 (2009-01-30)
- inria-00193865, version 3
- http://hal.inria.fr/inria-00193865
- oai:hal.inria.fr:inria-00193865
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- Submitted on: Tuesday, 27 January 2009 15:36:42
- Updated on: Friday, 18 September 2009 17:19:33
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