inria-00193865, version 3
An H∞ LPV Design for Sampling Varying Controllers : Experimentation with a T Inverted Pendulum
N° RR-6380 (2007)
Résumé : 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)
- Domaine : Informatique/Automatique
- Référence interne : RR-6380
- Commentaire : Version préliminaire d'un article soumis à la revue "IEEE Transactions on Control Systems Technology"
- Versions disponibles : v1 (04-12-2007) v2 (05-12-2007) v3 (30-01-2009)
- inria-00193865, version 3
- http://hal.inria.fr/inria-00193865
- oai:hal.inria.fr:inria-00193865
- Contributeur :
- Soumis le : Mardi 27 Janvier 2009, 15:36:42
- Dernière modification le : Vendredi 18 Septembre 2009, 17:19:33
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