Output feedback control of linear fractional transformation systems subject to actuator saturation

Abstract

In this paper, the control problem for a class of linear parameter varying (LPV) plant subject to actuator saturation is investigated. For the saturated LPV plant depending on the scheduling parameters in linear fractional transformation (LFT) fashion, a gain-scheduled output feedback controller in the LFT form is designed to guarantee the stability of the closed-loop LPV system and provide optimised disturbance/error attenuation performance. By using the congruent transformation, the synthesis condition is formulated as a convex optimisation problem in terms of a finite number of LMIs for which efficient optimisation techniques are available. The nonlinear inverted pendulum problem is employed to demonstrate the effectiveness of the proposed approach. Moreover, the comparison between our LPV saturated approach with an existing linear saturated method reveals the advantage of the LPV controller when handling nonlinear plants.