OBSERVER-BASED GAIN SCHEDULING H∞ CONTROLLER FOR A 3 MOTORS WEB TRANSPORT SYSTEM

This paper deals with the robust gain scheduled control problem of a web transport system with winder and unwinder for elastic material. Precisely, the objective consists to control accurately the tension along the web and its velocity in order to prevent the occurrence of web break or fold. Due to the wide-range variation of the radius and inertia of the rollers the system dynamics change considerably during the winding/unwinding process. A Linear Parameter Varying (LPV) control strategy is derived from the interpolation of the observer state- feedback gains of H∞ robust controllers. The resulting controllers are based on unbiased LPV observers and perform well during the whole winding/unwinding process.