Compact LFT-LPV Modeling With Automated Parameterization for Efficient LPV Controller Synthesis

Abstract

A systematic approach to the derivation of Linear Fractional Transformation (LFT)-based Linear Parameter-Varying (LPV) representations for descriptor systems is proposed. Explicit compact rational and affine representations with full non-square parameter blocks are formulated. Based on these, LPV parameterizations of the blocks are then derived automatically via a Principle Component Analysis (PCA)-based algorithm that only requires model coefficients and allows straightforward approximation of LFT-LPV models. A two-stage multiplier approach is employed during controller synthesis, which ensues low synthesis and implementation complexity compared to standard approaches. The methodology is applied to a three-degree of freedom (3-DOF) robotic manipulator, which shows improved performance at lower implementation complexity compared to previously published results.

Original languageEnglish
Title of host publication2015 American Control Conference (ACC)
Number of pages6
PublisherIEEE
Publication date28.07.2015
Pages119-124
Article number7170722
ISBN (Print)978-1-4799-8685-9
ISBN (Electronic)978-1-4799-8684-2
DOIs
Publication statusPublished - 28.07.2015
Event2015 American Control Conference - Hilton Palmer House Chicago, Chicago, United States
Duration: 01.07.201503.07.2015
Conference number: 113893

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