Analysis and design of linear parameter varying systems using LMIs

Abstract

This paper presents a tutorial on analysis and design of linear parameter varying (LPV) systems using linear matrix inequalities (LMIs). Several specifications, such as D-stability, guaranteed H ∞ performance and guaranteed quadratic cost, as well as different control structures, such as state-feedback control, output-feedback control and observer-based control, are considered. A numerical example and a simplified model of a two-degrees-of-freedom helicopter (TRMS) are used to illustrate in a didactic manner the overall design methodology using LMIs.