A robust controller interpolation design technique

Brandon Hencey, Andrew G. Alleyne

Research output: Contribution to journalArticlepeer-review


Switching or blending among controllers is termed controller interpolation. This paper investigates a robust controller interpolation technique and applies it to an experimental test bed. Although an interpolated controller is composed of linear timeinvariant (LTI) controllers stabilizing the LTI plant, closed-loop performance and stability are not guaranteed. Thus, it is of interest to design the interpolated controller to guarantee closedloop stability and a performance level for all interpolation signals describing controller switching sequences and combinations. The performance metric that is under investigation in this paper is the H norm. A suboptimal robust interpolated-controller design algorithm is framed in terms of bilinear matrix inequalities. The motivating example demonstrates the efficacy of the robust interpolated- controller design.

Original languageEnglish (US)
Article number4895694
Pages (from-to)1-10
Number of pages10
JournalIEEE Transactions on Control Systems Technology
Issue number1
StatePublished - Jan 2010


  • Controller interpolation
  • Gain-scheduling
  • H-infinity control
  • Suboptimal control
  • Switched systems

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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