{"id":{"repo_id":"uiuc","oai_identifier":"oai:www.ideals.illinois.edu:2142/83906"},"canonical_url":"https://search.dev.ndltd.org/etd/uiuc/oai:www.ideals.illinois.edu:2142/83906","repository":{"repo_id":"uiuc","name":"University of Illinois - Urbana-Champaign","base_url":"https://www.ideals.illinois.edu/oai-pmh"},"display":{"title":"Robust Controller Interpolation With Application to Gain-Scheduling","abstract":"This research focuses on designing the dynamic transition between controllers, termed controller interpolation to meet stability and performance objectives. First, an intuitive definition of the controller interpolation problem is presented. The resulting set of controller interpolation criteria is translated into a parameterization of all stabilizing interpolated controllers leveraging a Youla controller parameterization. Second, an interpolation framework is proposed for cases that lack an appropriate controller parameterization. The proposed framework mediates the interaction among controllers and the interpolated controller parameterization as a special case. For a class of linear parameter-varying plants, a convex optimization problem was formulated using the framework, and the framework is applied to optimize the gain-scheduled controller interpolation with respect to an Hinfinity norm.","abstract_html":"This research focuses on designing the dynamic transition between controllers, termed controller interpolation to meet stability and performance objectives. First, an intuitive definition of the controller interpolation problem is presented. The resulting set of controller interpolation criteria is translated into a parameterization of all stabilizing interpolated controllers leveraging a Youla controller parameterization. Second, an interpolation framework is proposed for cases that lack an appropriate controller parameterization. The proposed framework mediates the interaction among controllers and the interpolated controller parameterization as a special case. For a class of linear parameter-varying plants, a convex optimization problem was formulated using the framework, and the framework is applied to optimize the gain-scheduled controller interpolation with respect to an Hinfinity norm.","abstract_has_math":false,"creators":["Hencey, Brandon Michael"],"institution":"University of Illinois at Urbana-Champaign","degree_name":"Ph.D.","degree_level":"Dissertation","degree_discipline":"Mechanical Engineering","degree_department":null,"school":null,"contributors":["Alleyne, Andrew G."],"advisors":[],"committee_chairs":[],"committee_members":[],"year":2015,"date_issued":"2015-09-25T21:12:40Z","date_published":"2015-09-25T21:12:40Z","updated_at":"2026-07-22T22:26:22Z","subjects":["Engineering, Mechanical"],"languages":["eng"],"rights":[],"rights_urls":[],"identifier_entries":[{"key":"dc:identifier","label":"Identifier","values":["(MiAaPQ)AAI3314790"],"render_values":[{"text":"(MiAaPQ)AAI3314790","href":null,"code":true}]}]},"links":{"outbound_url":"http://hdl.handle.net/2142/83906","outbound_label":"Handle","outbound_source":"dc:identifier"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor","label":"Contributor","values":["Alleyne, Andrew G."]},{"key":"dc:creator","label":"Author","values":["Hencey, Brandon Michael"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date","label":"Dc Date","values":["2015-09-25T21:12:40Z","10000-01-01","2008"]},{"key":"dc:type","label":"Dc Type","values":["text"]},{"key":"thesis:degree_discipline","label":"Discipline","values":["Mechanical Engineering"]},{"key":"thesis:degree_level","label":"Degree Level","values":["Dissertation"]},{"key":"thesis:degree_name","label":"Degree Name","values":["Ph.D."]},{"key":"thesis:institution_name","label":"Thesis Institution Name","values":["University of Illinois at Urbana-Champaign"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["Engineering, Mechanical"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:language","label":"Dc Language","values":["eng"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier","label":"Identifier","values":["http://hdl.handle.net/2142/83906","(MiAaPQ)AAI3314790"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description","label":"Description","values":["This research focuses on designing the dynamic transition between controllers, termed controller interpolation to meet stability and performance objectives. 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First, an intuitive definition of the controller interpolation problem is presented. The resulting set of controller interpolation criteria is translated into a parameterization of all stabilizing interpolated controllers leveraging a Youla controller parameterization. Second, an interpolation framework is proposed for cases that lack an appropriate controller parameterization. The proposed framework mediates the interaction among controllers and the interpolated controller parameterization as a special case. For a class of linear parameter-varying plants, a convex optimization problem was formulated using the framework, and the framework is applied to optimize the gain-scheduled controller interpolation with respect to an Hinfinity norm.","Made available in DSpace on 2015-09-25T21:12:40Z (GMT). No. of bitstreams: 2 license.txt: 4848 bytes, checksum: 96035ab3f5e1c23cc7138a224ce498bd (MD5) 3314790.pdf: 2172482 bytes, checksum: 2cdabe601ca0fedb08c1fdfbebf5f955 (MD5) Previous issue date: 2008","Embargo set by: Seth Robbins for item 85187 Lift date: Forever Reason: Restricted to the U of I community idenfinitely during batch ingest of legacy ETDs","Restricted to the U of I community idenfinitely during batch ingest of legacy ETDs","U of I Only","168 p.","Thesis (Ph.D.)--University of Illinois at Urbana-Champaign, 2008."],"dc:identifier":["http://hdl.handle.net/2142/83906","(MiAaPQ)AAI3314790"],"dc:language":["eng"],"dc:subject":["Engineering, Mechanical"],"dc:title":["Robust Controller Interpolation With Application to Gain-Scheduling"],"dc:type":["text"],"thesis:degree_discipline":["Mechanical Engineering"],"thesis:degree_level":["Dissertation"],"thesis:degree_name":["Ph.D."],"thesis:institution_name":["University of Illinois at Urbana-Champaign"]},"updated_at":"2026-07-22T22:26:22Z"}