Optimizing output regulation for a class of underactuated LPV systems

Abstract

@ 2017 IEEE. Personal use of these materials is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating news collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other worksIn this paper the problem of optimizing the output regulation of an underactuated LPV system is considered. When the system is underactuated, only a subset of the outputs can be arbitrarily controlled, and the remaining ones are constrained. The problem of finding the input that minimizes a cost function of the overall output tracking error is investigated for a special class of LPV systems that admit steady-states. Moreover, it is shown how such solution is related to the inputs associated to the singularly optimal regulation of each output.Peer Reviewe