Gain-Scheduled Controller Synthesis for Continuous-Time Polytopic LPV Systems

This paper is concerned with the problem of gain-scheduled controller synthesis for continuous-time linear parameter-varying systems. In this problem, the system matrices in the state-space form are polytopic and patameterized and the admissible values of the parameters are assumed to be measurable on-line in a polytope space. By employing a basis-parameter-dependent Lyapunov function and introducing some slack variables to the well-established performance conditions, sufficient conditions for the existence of the desired gain-scheduled state feedback and dynamic output feedback controllers are established in terms of parameterized linear matrix inequalities. Based on the polytopic characteristic of the dependent parameters and a convexification method, the corresponding controller synthesis problem is then cast into finite-dimensional convex optimization problem which can be efficiently solved by using standard numerical softwares. Numerical examples are given to illustrate the effectiveness and advantage of the proposed methods.