Journal Article

Generalized internal model architecture for gain-scheduled control

Wei Xie and Toshio Eisaka

in IMA Journal of Mathematical Control and Information

Published on behalf of Institute of Mathematics and its Applications

Volume 25, issue 4, pages 447-459
Published in print December 2008 | ISSN: 0265-0754
Published online October 2008 | e-ISSN: 1471-6887 | DOI:
Generalized internal model architecture for gain-scheduled control

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A two-degree-of-freedom controller architecture and its design strategy for linear parameter-varying (LPV) systems, where the dependent parameters are assumed to be measurable, are proposed in the generalized internal model control (GIMC) framework. First, coprime factorization and Youla parameterization for LPV systems are introduced based on a parameter-dependent Lyapunov function. Then, the GIMC architecture for linear time-invariant systems is extended to LPV systems with these descriptions. Based on this architecture, good tracking performance and good robustness (disturbance rejection) are compatibly achieved by a nominal controller and a conditional controller, respectively. Furthermore, each controller design problem is formulated in terms of linear matrix inequalities related to each L2-gain performance. Finally, a simple design example is illustrated.

Keywords: internal model control; gain-scheduled control; two-degree-of-freedom; linear parameter-varying systems; Youla parameterization

Journal Article.  0 words. 

Subjects: Mathematics

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