inria-00193862, version 1
A reduced polytopic LPV synthesis for a sampling varying controller : experimentation with a T inverted pendulum
David Robert 1Olivier Sename 2Daniel Simon
1
European Control Conference, ECC'07 (2007)
Résumé : 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.
- 1 : NeCS (INRIA Grenoble Rhône-Alpes / Gipsa-lab)
- CNRS : UMR5216 – INRIA – Gipsa-lab – Université Joseph Fourier - Grenoble I – Institut National Polytechnique de Grenoble (INPG)
- 2 : Grenoble Images Parole Signal Automatique (GIPSA-lab)
- CNRS : UMR5216 – Université Joseph Fourier - Grenoble I – Université Pierre-Mendès-France - Grenoble II – Université Stendhal - Grenoble III – Institut Polytechnique de Grenoble - Grenoble Institute of Technology
- Domaine : Informatique/Automatique
- inria-00193862, version 1
- http://hal.inria.fr/inria-00193862
- oai:hal.inria.fr:inria-00193862
- Contributeur : Daniel Simon
- Soumis le : Mardi 4 Décembre 2007, 17:39:46
- Dernière modification le : Mercredi 22 Juillet 2009, 11:10:21
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