An Observer Based State Feedback LFT LPV Controller for an Industrial Manipulator

In this paper, an observer based state feedback control law for linear parameter varying (LPV) systems represented via linear fractional transformations (LFTs) is synthesized for the control of the first axis of an industrial manipulator. Using parameter dependent Lyapunov functions, the induced ℒ2 performance of the observer and the state feedback can be guaranteed over the whole parameter space while taking into account a limited parameter variation rate. Parameter dependent weights allow for an adjustable performance over the workspace of the manipulator. The pole regions of the closed loop, frozen at certain parameter values, are assigned by introducing pole region constraints in the synthesis.