Name
Abstract | ||
|---|---|---|
This paper develops a robust gain-scheduled proportional–integral–derivative (PID) controller design method for a linear-parameter-varying (LPV) system with parametric uncertainty. It is recognized in the literature that the robust fixed-order controller design can be formulated as a feasibility problem of a bilinear matrix inequality (BMI) constraint. Unfortunately, the search for a feasible solution of a BMI constraint is an NP hard problem in general. Previous researchers have applied a linearization method, such as a variable change technique or a congruence transformation, to transform the BMI into a LMI. The applicability of the linearization method depends on the specific structure of the problem at hand and cannot be generalized. This paper instead formulates the gain-scheduled PID controller design as a feasibility problem of a quadratic matrix inequality (QMI) constraint, which covers the BMI constraint as a special case. An augmented sequential LMI optimization method is proposed to search for a feasible solution of the QMI constraint iteratively. As an illustrative application, a vehicle lateral control problem is presented to demonstrate the applicability of the proposed algorithm to a real-world output feedback control design system. |
Year | DOI | Venue |
|---|---|---|
2019 | 10.1016/j.sysconle.2019.02.006 | Systems & Control Letters |
Keywords | Field | DocType |
PID controller,LPV system,Linear matrix inequality,Quadratic matrix inequality,Convex optimization,Robust control | Mathematical optimization,PID controller,Control theory,Matrix (mathematics),Quadratic equation,Parametric statistics,Robust control,Convex optimization,Linear matrix inequality,Linearization,Mathematics | Journal |
Volume | ISSN | Citations |
126 | 0167-6911 | 1 |
PageRank | References | Authors |
0.35 | 0 | 3 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Yan Wang | 1 | 1 | 0.69 |
| Rajesh Rajamani | 2 | 458 | 88.34 |
| Ali Zemouche | 3 | 235 | 27.91 |