Robust linear time-varying control for trajectory tracking: Computation and an experimental application

This paper provides computational and experimental verification of the use of recently developed linear time-varying (LTV) robust control synthesis methods for controlling systems along prespecified trajectories. The linearization of system dynamics along trajectories yield LTV systems, and we compute and design robust controllers with respect to such linearizations. The techniques employed require the computation of potentially large linear matrix inequalities and complexity reduction using new model reduction for LTV systems is also demonstrated.