From Impractical LPV Controllers to Practical and “Implementable” LPV Controllers: Verification with Research Airplane

Abstract

We first give a brief review of classical Gain-Scheduled (GS) controllers with our design example of Stability/Control Augmentation System (S/CAS) for Quad-Tilt-Wing UAV (QTWUAV), and we clarify the issues to be overcome from the S/CAS design example. Then, a brief review of Linear Parameter-Varying (LPV) GS controller design, which has been proposed to overcome the issues in classical GS controller design, is given from the viewpoint of the practicality. Finally, several methods, which have been proposed by the author, are briefly reviewed with some verification results using JAXA's research airplane MuPAL-α. This paper ends with concluding remarks and future research topics related to LPV GS controllers.