An H∞ LPV Design for Sampling Varying Controllers : Experimentation with a T Inverted Pendulum

Version préliminaire d'un article soumis à la revue "IEEE Transactions on Control Systems Technology"This report deals with the adaptation of a real-time controller's sampling period to account for the available computing resource variations. The design of such controllers requires a parameter-dependent discrete-time model of the plant, where the parameter is the sampling period. A polytopic approach for LPV (Linear Parameter Varying) systems is then developed to get an H∞ sampling period dependent controller. A reduction of the polytope size is here performed which drastically reduces the conservatism of the approach and makes easier the controller implementation. Some experimental results on a T inverted pendulum are provided to show the efficiency of the approach