Robustness of PWA control systems based on a coupled vertex sensitivity analysis

Songlin Yang (1) , Sorin Olaru (1) , Pedro Rodriguez-Ayerbe (1) , Carlos E.T. Dorea (2)

1 L2S - Laboratoire des signaux et systèmes
2 UFRN - Universidade Federal do Rio Grande do Norte [Natal]

Under the vertex representation for the state partitions, this paper studies the fragility of piecewise affine (PWA) control laws for constrained discrete-time linear systems. In particular, the aim is to evaluate the impact of uncertainty in the representation of statespace partition. Practically, the notion of coupled vertex sensitivity (CVS) is defined to inscribe the joint uncertainty in the vertex positioning. This novel concept reduces the computational complexity and the conservativeness of the construction compared to the use of independent vertex perturbation through the iterative procedure using the existing results. A numerical example illustrated the effectiveness of our work.

Mots clés: Fragility PWA control Coupled vertex sensitivity; Fragility; PWA control; Coupled vertex sensitivity

Domaines: Automatique / Robotique

Songlin Yang, Sorin Olaru, Pedro Rodriguez-Ayerbe, Carlos E.T. Dorea. Robustness of PWA control systems based on a coupled vertex sensitivity analysis. 18th IFAC Workshop on Control Applications of Optimization (CAO 2022), Jul 2022, Gif Sur Yvette, France. pp.314-319, ⟨10.1016/j.ifacol.2022.09.043⟩. ⟨hal-03945153⟩