Kybernetika 54 no. 3, 593-609, 2018

Design of robust gain scheduled controller using $L_2$ gain performance

Vojtech Veselý and Martin ErnekDOI: 10.14736/kyb-2018-3-0593


This paper is devoted to robust gain scheduled PID controller design with $L_2$ performance for the linear time varying (LPV) uncertain system with polytopic uncertainties. The novel approach of robust controller design ensures that the obtained design procedure is convex with respect to both plant uncertainties (polytopic system) and gain scheduling parameters and gives less conservative results. Modified design procedure should be used to obtain a robust controller or robust switched controller (ideal, non-ideal switching) with arbitrarily switching algorithm. The effectiveness of the proposed approach is illustrated on the simulation examples.


gain scheduled controller, Linear parameter varying systems (LPV), robust controller, switched controller, $L_2$ gain performance


70E60, 93B36


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