About the Author xv
Preface xvii
Acronyms xxi
About the Companion Website xxiii
Introduction xxv
Part I Some Theoretical Aspects on LPV Systems: From Modeling to Control 1
1 Some Modeling Approaches for LPV and qLPV Systems 3
1.1 Introduction 3
1.2 Dynamical Systems 4
1.3 An Introduction to LPV Models 5
1.4 Specific Classes of LPV Systems 10
1.5 From a Nonlinear Model to an LPV Representation 19
1.6 An Introduction to Identification of LPV Systems 23
1.7 The Nonuniqueness Issue: A Control-Oriented LPV Modeling Perspective 25
1.8 Illustrative Example 1: A Single Tank System 26
1.9 Illustrative Example 2: qLPV Modeling and Time-Varying Characteristics 30
1.10 Conclusion 34
Bibliography 34
2 Properties of LPV Systems 41
2.1 Introduction 41
2.2 Controllability 42
2.3 Observability 46
2.4 Comments on State-Space Realizations of LPV Systems 49
2.5 Stability 50
2.6 Performance Criteria: H∞, gH2, and Pole Placement 55
2.7 About Stabilizability and Detectability 62
2.8 The Case of Discrete-Time LPV Systems 63
2.9 Conclusion 68
Bibliography 68
3 Control of LPV Systems 75
3.1 Introduction 75
3.2 LPV State-Feedback Control 77
3.3 The LPV Dynamic Output Feedback Control 88
3.4 LPV Observer Design 104
3.5 About Control of Discrete-Time LPV Systems 109
3.6 Conclusion 111
Bibliography 111
Part II LPV Methods for Nonlinear Systems 121
4 Control and Observer Design for Nonlinear Systems Using Quasi-LPV Models: An Illustration Through Examples 123
4.1 Introduction 123
4.2 H∞?LPV Control of a Nonlinear System 124
4.3 An H∞?LPV Observer of a Three-Tank Nonlinear System 134
4.4 Conclusion 140
Bibliography 140
5 Observer Design for Semi-active Suspension Systems: qLPV Approaches 143
5.1 Introduction 143
5.2 Illustrative Case Study: The INOVE Testbench, a Semi-active Suspension System 145
5.3 Electro-Rheological Dampers: Modeling Approaches 147
5.4 qLPV Quarter Car Semi-active Suspension Models 152
5.5 Method 1: An H∞/gH2 Observer for Suspension State Estimation 158
5.6 Method 2: A H∞ Filtering Approach for Damper Force Estimation 163
5.7 Method 3: A Nonlinear Parameter Varying Approach for State Estimation 168
5.8 Concluding Remarks 175
Bibliography 176
6 Lateral Control of Autonomous Vehicle 181
6.1 Introduction 181
6.2 Modeling 182
6.3 H∞?LPV Control Design 187
6.4 Analysis of the Polytopic and Grid-Based Design Methods 191
6.5 Simulation Results 192
6.6 Conclusion 197
Bibliography 197
Part III LPV Adaptive-Like Control Methods 203
7 Methods and Tools for LPV Adaptive-Like Control 205
7.1 Introduction 205
7.2 The H∞Framework: A Generic Tool for “Adaptive-Like” Control 206
7.3 LPV Adaptive Control with Varying Closed-Loop Performances (Function of External Parameters) 208
7.4 LPV Adaptive Control Function of Varying Endogeneous Parameters 215
7.5 Concluding Remarks 223
Bibliography 223
8 LPV Road Adaptive Suspension Control 227
8.1 Introduction 227
8.2 The Semi-active Suspension Quarter-Car Model 230
8.3 Road Roughness Estimator 233
8.4 Synthesis of a Semi-active Suspension Control 237
8.5 Simulation Results 246
8.6 Conclusions 249
Bibliography 249
9 LPV Fault-Tolerant Control Strategies for Suspension Systems 257
9.1 Introduction 257
9.2 Related Works 259
9.3 Fault Diagnosis Problem Formulation for Semi-active ER Suspension Systems 261
9.4 Fault Estimation Using LPV PI Observers 265
9.5 FTC LPV Control of Semi-active Suspension Systems 276
9.6 Conclusion 284
Bibliography 284
10 Lateral LPV Adaptive-Like Control of Automated Vehicles Adapted to Driver Performance 293
10.1 Introduction 293
10.2 LPV Observer-Based Control Structure for ADAS Systems 294
10.3 Driver Fault Estimation Using a Discrete-Time LPV PI Observer 295
10.4 Robust H∞?LPV ADAS Strategy 301
10.5 Simulation Results 308
10.6 Conclusion 313
Bibliography 313
Index 317
