Robust Controller Interpolation With Application to Gain-Scheduling
Hencey, Brandon Michael
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Permalink
https://hdl.handle.net/2142/83906
Description
Title
Robust Controller Interpolation With Application to Gain-Scheduling
Author(s)
Hencey, Brandon Michael
Issue Date
2008
Doctoral Committee Chair(s)
Alleyne, Andrew G.
Department of Study
Mechanical Engineering
Discipline
Mechanical Engineering
Degree Granting Institution
University of Illinois at Urbana-Champaign
Degree Name
Ph.D.
Degree Level
Dissertation
Keyword(s)
Engineering, Mechanical
Language
eng
Abstract
This research focuses on designing the dynamic transition between controllers, termed controller interpolation to meet stability and performance objectives. First, an intuitive definition of the controller interpolation problem is presented. The resulting set of controller interpolation criteria is translated into a parameterization of all stabilizing interpolated controllers leveraging a Youla controller parameterization. Second, an interpolation framework is proposed for cases that lack an appropriate controller parameterization. The proposed framework mediates the interaction among controllers and the interpolated controller parameterization as a special case. For a class of linear parameter-varying plants, a convex optimization problem was formulated using the framework, and the framework is applied to optimize the gain-scheduled controller interpolation with respect to an Hinfinity norm.
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