Diseño de un controlador de ganancia tabulada basado en desigualdades matriciales lineales para un sistema dinámico (Design of a Gain Scheduling Control Based on Linear Matrix Inequalities for a Dynamic System)

Edna Joydeth Avella (edna.avella@uptc.edu.co), Ramiro Alejandro Plazas (ramiro.plazas@uptc.edu.co)

Universidad Pedagogica y Tecnologica de Colombia
This paper appears in: Revista IEEE América Latina

Publication Date: March 2012
Volume: 10,   Issue: 2 
ISSN: 1548-0992

This article explains the obtaining of a dynamic system which corresponds to a manipulator with two degrees of freedom "Elbow", which shows the linearization around several operating points of nonlinear system. Also indicate how the combined strategy and apply the gain scheduling with linear matrix inequalities (LMI's). The simulation of non-linear system was performed with a block called S-Functions and the control law was made in simulink of MATLAB software. The animation of the dynamic system with the controller was done with software Easy Java Simulation (EJS).

Index Terms:
Elbow, control, linear matrix inequalities, gain scheduling, linearization, operation point, robot,   

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