Abstract
The objective of this paper is to show how experimentally basedmodelling can be used for designing Linear Parametrically Varying(LPV) controllers. As a test system we use an industrial pick andplace unit with one linear X-drive and two independent linearY-drives. The dynamics of the Y-axes depend on the X-position. AnLPV model is derived by using measured Frequency ResponseFunctions at different positions, fitting a parametric model oneach measurement and combining these models by linking parametersvia a fit as a function of operating point. Rewriting the LPVmodel into a LFT structure and applying model reduction in thespace of the scheduling variable finalizes the modelling phase.With this model an LPV controller is calculated and shows robustperformance for the whole operating range, in contrast to local$H_\infty$ controllers.
| Original language | English |
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| Title of host publication | Proceedings of the 2003 American control conference, ACC : June 4-6, 2003, Denver, Colorado, USA. Vol. 2 |
| Place of Publication | PIscataway |
| Publisher | Institute of Electrical and Electronics Engineers |
| Pages | 1374-1379 |
| ISBN (Print) | 0-7803-7896-2 |
| Publication status | Published - 2003 |