Delay-dependent robust H infinity control for a class of uncertain switched systems with time delay.
For linear switched system with both parameter uncertainties and time delay, a delay-dependent sufficient condition for the existence of a new robust H infinity feedback controller was formulated in nonlinear matrix inequalities solvable by an LMI-based iterative algorithm. Compared with the conventional state-feedback controller, the proposed controller can achieve better robust control performance since the delayed state is utilized as additional feedback information and the parameters of the proposed controllers are changed synchronously with the dynamical characteristic of the system. This design method was also extended to the case where only delayed state is available for the controller. The example of balancing an inverted pendulum on a cart demonstrates the effectiveness and applicability of the proposed design methods.
Shi
Jia
J
National Key Lab for Industrial Control Technology, Hangzhou 310027, China. jshi@iipc.zju.edu.cn
Wu
Tie-Jun
TJ
Du
Shu-Xin
SX
D000465:Algorithms; D003198:Computer Simulation; D005246:Feedback; D015233:Models, Statistical; D017711:Nonlinear Dynamics; D009716:Numerical Analysis, Computer-Assisted; D012815:Signal Processing, Computer-Assisted; D013269:Stochastic Processes; D013598:Systems Theory; D013997:Time Factors