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inline image control of LPV systems with saturating actuators: Pólya approach

Authors

  • Akın Delibaşı,

    Corresponding author
    1. Université de Toulouse; UPS, INSA, INP, ISAE LAAS, Toulouse, France
    2. Department of Control and Automation Engineering, Yıldız Technical University, Beşiktaş, Istanbul, Turkey
    • CNRS; LAAS, Toulouse, France
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  • Ibrahim B. Kucukdemiral,

    1. Department of Control and Automation Engineering, Yıldız Technical University, Beşiktaş, Istanbul, Turkey
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  • Galip Cansever

    1. Department of Control and Automation Engineering, Yıldız Technical University, Beşiktaş, Istanbul, Turkey
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Akın Delibaşı, Department of Control and Automation Engineering, Yıldız Technical University, Beşiktaş, Istanbul, Turkey.

E-mail: adelibas@yildiz.edu.tr

SUMMARY

This paper addresses the design problem of inline image, gain-scheduling non-linear state-feedback controller for linear parameter varying (LPV) systems, subjected to actuator saturations and bounded energy disturbances, by using parameter-dependent type Lyapunov functions. The paper provides a systematic procedure to generate a sequence of linear matrix inequality (LMI) type conditions of increasing precision for obtaining a suboptimal inline image state-feedback controller. The presented method utilizes the modified sector condition for formalization of actuator saturation and homogeneous polynomial parameter-dependent representation of LPV systems. Both simulations and experimental studies on an inverted pendulum on a cart system illustrate the benefits of the approach. Copyright © 2011 John Wiley & Sons, Ltd.

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