Mixed‐Objective Robust Dynamic Output Feedback Controller Synthesis for Continuous‐Time Polytopic Lpv Systems

A robust dynamic output feedback controller synthesis algorithm considering H infinity/H-2 performance and regional pole placement is addressed for a nonlinear system with parameter uncertainties and external disturbance. First, the formulation of a gain-scheduled mixed-objective robust dynamic output feedback controller for continuous-time polytopic linear parameter varying (LPV) systems is presented. To reduce conservativeness, some auxiliary slack variables and parameter-dependent Lyapunov functions are employed in addition to well-established performance conditions. Then, sufficient conditions for the desired gain-scheduled mixed-objective robust dynamic output feedback controllers are cast into an efficiently tractable finite-dimensional convex optimization problem in terms of linear matrix inequalities (LMIs). Finally, numerical simulation shows the validity of the proposed controller, which has good stability, strong robustness, satisfied disturbance attenuation ability, and smooth dynamic properties.