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

David Robert (1) , Olivier Sename (2) , Daniel Simon (1)

1 NECS - Networked Controlled Systems
2 GIPSA-SLR - GIPSA - Systèmes linéaires et robustesse

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.

Domaines: Automatique

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⟩