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

1 NECS - Networked Controlled Systems
Inria Grenoble - Rhône-Alpes, GIPSA-DA - Département Automatique
2 GIPSA-SLR - SLR
GIPSA-DA - Département Automatique
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.
Document type :
Conference papers

https://hal.inria.fr/inria-00193862
Contributor : Daniel Simon <>
Submitted on : Tuesday, December 4, 2007 - 5:39:46 PM
Last modification on : Saturday, October 6, 2018 - 1:15:38 AM
Document(s) archivé(s) le : Monday, April 12, 2010 - 6:07:13 AM

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drosds518.pdf
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### Identifiers

• HAL Id : inria-00193862, version 1

### Citation

David Robert, Olivier Sename, Daniel Simon. A reduced polytopic LPV synthesis for a sampling varying controller : experimentation with a T inverted pendulum. European Control Conference, ECC'07, Jul 2007, Kos, Greece. ⟨inria-00193862⟩

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