2003 Volume 39 Issue 4 Pages 357-364
This paper addresses the analysis and synthesis of robust LQ regulators for LPV (Linear Parameter-Varying) systems using parameter-dependent Lyapunov functions. Robust LQ performance, an infimum of upper bounds of LQ performance for LPV systems, is formulated via LMIs. Although such robust LQR problems are described as non-convex problems, they can be transformed into convex problems by an iterative algorithm recently proposed by Shimomura et al. The robust LQR design method presented in this paper is also applied to a previously proposed model-following controller design. In contrast to the previous work, robust performance is evaluated as a time-varying system over the full ranges of the parameters that represent plant perturbations or uncertainties. The applicability of the proposed method is demonstrated through some illustrative examples, including the design and simulations of a model-following controller for an aircraft lateral/directional motions.
