Moving horizon ℓ2 control of LPV systems subject to constraints*

The paper presents a moving horizon ℓ2 control approach for the class of linear parameter-varying systems. By solving online a convex optimization problem subject to linear matrix inequality constraints the ℓ2 gain from the energy bounded external disturbance to the performance output is minimized at each sampling instant. The approach guarantees satisfaction of state and input constraints and it is shown that the online recalculation of the control law improves disturbance attenuation significantly when compared to a static control law.