Robust Controller Interpolation With Application to Gain-Scheduling

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.

Name thesis:degree_name

Ph.D.

Level thesis:degree_level

Dissertation

Discipline thesis:degree_discipline

Mechanical Engineering

Grantor

University of Illinois at Urbana-Champaign

Year dc:date

2015

Author dc:creator

• Hencey, Brandon Michael

Contributors dc:contributor

• Alleyne, Andrew G.

• Engineering, Mechanical

Language dc:language

eng

Identifier

(MiAaPQ)AAI3314790

OAI identifier oai:identifier

oai:www.ideals.illinois.edu:2142/83906