TY - GEN
T1 - Robust controller interpolation via parameterization
AU - Hencey, Brandon
AU - Alleyne, Andrew
PY - 2009
Y1 - 2009
N2 - Arbitrarily fast switching or blending among controllers often leads to reduced performance and possible instability. This paper presents a controller interpolation framework for robustly transitioning among controllers with respect to the H∞ norm. The framework leverages a robust controller parameterization, analogous to a Youla parameterization of nominally stabilizing controllers, to greatly simplify the robust controller interpolation problem. In addition, an explicit construction is provided for the robust interpolated controller. A practical example is presented in the form of a robust interpolated controller implemented on an electro-hydraulic test bed.
AB - Arbitrarily fast switching or blending among controllers often leads to reduced performance and possible instability. This paper presents a controller interpolation framework for robustly transitioning among controllers with respect to the H∞ norm. The framework leverages a robust controller parameterization, analogous to a Youla parameterization of nominally stabilizing controllers, to greatly simplify the robust controller interpolation problem. In addition, an explicit construction is provided for the robust interpolated controller. A practical example is presented in the form of a robust interpolated controller implemented on an electro-hydraulic test bed.
UR - http://www.scopus.com/inward/record.url?scp=70349934726&partnerID=8YFLogxK
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M3 - Conference contribution
AN - SCOPUS:70349934726
SN - 9780791843352
T3 - 2008 Proceedings of the ASME Dynamic Systems and Control Conference, DSCC 2008
SP - 1517
EP - 1524
BT - 2008 Proceedings of the ASME Dynamic Systems and Control Conference, DSCC 2008
T2 - 2008 ASME Dynamic Systems and Control Conference, DSCC 2008
Y2 - 20 October 2008 through 22 October 2008
ER -