Internal model control design for linear parameter varying systems

• Published in: 2013 American Control Conference pp. 2409 - 2414
• Main Authors: Mohammadpour, Javad, Jing Sun, Karnik, Amey, Jankovic, Mrdjan
• Format: Conference Proceeding
• Language: English
• Published: IEEE 01.06.2013
• Subjects: Design methodology; Linear matrix inequalities; Nonlinear systems; Robust stability; Symmetric matrices; Transfer functions; Vectors
• ISBN: 1479901776; 9781479901777
• ISSN: 0743-1619
• DOI: 10.1109/ACC.2013.6580195

In this paper, we address the design of internal model controllers (IMC) for linear parameter varying (LPV) systems. The design method presented here integrates the IMC and low-pass filter design problems. To this purpose, we formulate the design problem as a linear matrix inequality (LMI) optimization problem by imposing a constraint on the structure of the Lyapunov matrices involved to guarantee robust stability and performance of the closed-loop system. The LMI-based design procedure eventually provides the parameter-dependent state-space matrices corresponding to the IMC controller. Finally, simulation results obtained from a nonlinear system modeled in LPV framework demonstrate the effectiveness of the proposed design method, where we illustrate the improvements achieved by using the LMI-based IMC design over baseline IMC controllers amended with low-pass filters of different bandwidths.