Gain-Scheduled Output-Feedback Controllers with Good Implementability and Robustness

Abstract

This article addresses the design problem of gain-scheduled output-feedback (GSOF) controllers, which depend on inexactly provided scheduling parameters, for continuous-time linear parameter-varying (LPV) systems via parameter-dependent Lyapunov functions (PDLFs). We successfully propose a new design method for our problem. That is, in stark contrast to conventional design methods, our method produces practical GSOF controllers being independent of the derivatives of scheduling parameters, i.e., good implementability is assured, and depending only on inexactly provided scheduling parameters, i.e., robustness against the uncertainties on the scheduling parameters is also assured. For further good implementability of GSOF controllers, we show that it is always possible to obtain polynomially parameter-dependent GSOF controllers if rationally parameter-dependent GSOF controllers can be designed for LPV systems under a very mild constraint.