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1 - Introduction To LPV Systems

The document provides an overview of a course on the identification and control of Linear Parameter-Varying (LPV) systems, highlighting their characteristics, definitions, and the challenges associated with LPV control and identification. It discusses the importance of gain-scheduling adaptive control for managing nonlinear dynamics in real systems and outlines the course methodology, evaluation, and recommended resources. Additionally, it acknowledges contributions from various experts in the field.

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William Santos
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15 views19 pages

1 - Introduction To LPV Systems

The document provides an overview of a course on the identification and control of Linear Parameter-Varying (LPV) systems, highlighting their characteristics, definitions, and the challenges associated with LPV control and identification. It discusses the importance of gain-scheduling adaptive control for managing nonlinear dynamics in real systems and outlines the course methodology, evaluation, and recommended resources. Additionally, it acknowledges contributions from various experts in the field.

Uploaded by

William Santos
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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Universidade Federal do Ceará

Technology Institute
Department of Electrical Engineering
Identification and Control of LPV Systems
Introduction: Course overview
Motivation: gain-scheduling adaptive control
Identification and Control of LPV Systems
Introduction: Course overview
Motivation: gain-scheduling adaptive control

 Real systems characteristics:


- Nonlinear dynamics;
- Subjected to large range of operating conditions (P and Q).
 Solution: Classical Gain-scheduling Approach:

(Nogueira et al., 2014)


Identification and Control of LPV Systems
Introduction: Course overview
LPV vs LTI vs LTV vs NL

𝑥 = 𝑓 𝑡, 𝑥, 𝑢 𝑥 =𝐴 𝑡 𝑥+𝐵 𝑡 𝑢
𝑦 = ℎ(𝑡, 𝑥, 𝑢) 𝑦 =𝐶 𝑡 𝑥+𝐷 𝑡 𝑢
Nonlinear systems LTV systems

LPV systems LTI systems

𝑥 =𝐴 𝜃 𝑡 𝑥+𝐵 𝜃 𝑡 𝑢 𝑥 = 𝐴𝑥 + 𝐵𝑢
𝑦 =𝐶 𝜃 𝑡 𝑥+𝐷 𝜃 𝑡 𝑢 y = 𝐶𝑥 + 𝐷𝑢
Identification and Control of LPV Systems
Introduction: Course overview
Definition of an LPV system
Linear parameter-varying (LPV) systems are linear dynamical systems whose
mathematical description depends on parameters that change values over time

𝜌
𝑥 =𝐴 𝜌 𝑡 𝑥+𝐵 𝜌 𝑡 𝑢
𝑦=𝐶 𝜌 𝑡 𝑥+𝐷 𝜌 𝑡 𝑢
where:
• 𝜌 𝑡 = 𝜌1 𝑡 , 𝜌2 𝑡 , … , 𝜌𝑁 𝑡 ∈ Ω (convex set) is a vector of time-varying
parameters (scheduling parameters) assumed to be known (measurable) for all
𝑡 ≥ 0;
• Typical assumptions on the exogenous parameters are bounds on magnitudes
and rate of variations.

−𝜇 ≤ 𝜌 𝑡 ≤ 𝜇
−𝜏 ≤ 𝜌 𝑡 ≤ 𝜏
Identification and Control of LPV Systems
Introduction: Course overview
Definition of an LPV system
• Parameters are exogenous if they are external variables. The system is in that
case non stationary.

• Parameters are endogenous if they are function of the state variables, 𝜌 =


𝜌 𝑥 𝑡 , 𝑡 , and, in that case, the LPV system is referred to as a quasi-LPV
system.

• This characterization defines a family of admissible parameter trajectories.


Accordingly, LPV analysis concerns assessing properties (such as stability,
disturbance rejection, tracking, etc.) that hold for a family of LTV systems, rather
than a single LTV system.
Identification and Control of LPV Systems
Introduction: Course overview
Definition of an LPV system

The class of LPV systems encompasses a wide variety of systems according to


the type of trajectories of the parameters. For instance (Briat, 2014):

• LPV systems with arbitrarily fast varying parameters;

• LPV systems with slowly varying parameters;

• LPV systems with piecewise constant parameters;

• Switched systems;

• Periodic systems.
Identification and Control of LPV Systems
Introduction: Course overview
Definition of an LPV system

IMPORTANT (Sename, 2016):

LPV system means TIME-VARYING parameters so a polytopic LPV system is not


an uncertain polytopic system (in the latter case the coefficients of the polytopic
description are constant even if unknown)
Identification and Control of LPV Systems
Introduction: Course overview
LPV control

Feedback LPV control system:

Ref(z) U(z) Y(z)


+ K(z,θ) G(z,θ)
-
Identification and Control of LPV Systems
Introduction: Course overview
LPV control challenges
Identification and Control of LPV Systems
Introduction: Course overview
LPV identification challenges
• Local approach;
• Global approach.
Identification and Control of LPV Systems
Introduction: Course overview
LPV Fault Tolerant Control
Identification and Control of LPV Systems
Introduction: Course overview
Tools: Yalmip – Matlab toolbox

Free MATLAB toolbox for rapid definition, manipulation and solution of


optimization problems.

Originally aimed towards linear semidefinite programming.

Supports linear, quadratic, second-order cone, semidefinite, bilinear, geometric,


parametric and mixed integer programming.

Interfaces most state-of-the-art solvers.

Sedumi
Identification and Control of LPV Systems
Introduction: Course overview
Recommended Books
Identification and Control of LPV Systems
Introduction: Course overview
IFAC Workshop
Identification and Control of LPV Systems
Introduction: Course overview
Course Outline

1 - Introduction: basic concepts.


2 - LMI Robust Control.
3 - LPV Stability
4 - LPV Identification
5 - LPV Control
6 - LPV FTC
Identification and Control of LPV Systems
Introduction: Course overview
Course Methodology

 Theory lessons:
- Modeling and identification;
- Control Methods;

 Laboratory lessons:
- Computational implementation and simulation tests;
Identification and Control of LPV Systems
Introduction: Course overview
Course Evaluation

 1 - Round of seminars;
 2 - Homeworks
 3 - Technical reports;
 4 - Final task (based on a recent paper).
Identification and Control of LPV Systems
Introduction: Course overview
Acknowledgments to:
(Slides, lecture notes, books, and another documents):

- Olivier Sename, GIPSA-Lab, Grenoble, FR.


- Carsten Scherer, Delft Center for Systems and Control, The Netherlands.
- Pierre Apkarian, ONERA-Toulouse, France,
- Ricardo C.L.F. Oliveira , UNICAMP, Campinas-BR.
- Pedro L. D. Peres, UNICAMP, Campinas-BR.
- Roland Tóth, Eindhoven University of Technology,The Netherlands.
- Stephen P. Boyd, Stanford, CA-USA.
- Johan Löfberg, Linköping University, Sweden.

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