A method for reducing implementation complexity in linear parameter-varying controllers
A method for reducing implementation complexity in linear parameter-varying controllers
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2022-12
Autores
Bianchi, Fernando D.
Sánchez-Peña, Ricardo
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"Gain-scheduling is a popular control technique to deal with nonlinear and time varying systems. The linear parameter-varying (LPV) system approach offers systematic tools to design gain-scheduled controllers. However, the implementation of these controllers might demand complex mathematical operations to be performed in real-time. This limits the hardware and the applications in which LPV controllers can be used. In this article, we analyze these limitations and propose a design methodology to reduce the implementation complexity of gain-scheduled LPV controllers. The methodology is illustrated with a nonlinear bicycle model used in electric vehicle control."