Németh, Balázs and Gáspár, Péter (2025) Scheduling-Informed LPV Approach for Control Design Purposes. IFAC PAPERSONLINE, 59 (15). pp. 85-90. ISSN 2405-8971 10.1016/j.ifacol.2025.10.062

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Abstract

This paper presents the Scheduling-Informed Linear Parameter Varying (SI-LPV) approach for handling actuator nonlinearities and unknown dynamics in linear systems. The SI-LPV approach uses Kolmogorov-Arnold representation theorem with ultra-local model formulation to achieve SI-LPV form of the system. The paper introduces the control-oriented form of the approach, and the computation method of the scheduling variables. These variables inform the controller about the actual ultra-local dynamics of the system. Moreover, the control synthesis is introduced for motion control problems to achieve a general simplified solution. The effectiveness of the resulted controller is illustrated through two different motion control problems. First, the motion of a vehicle with internal combustion engine and hydraulic brake system is controlled through the SI-LPV approach. Second, human runner motion is affected using the presented approach, in which illustration of different parameters on the human runners are considered. © © 2025 The Authors.

Item Type:	Article
Uncontrolled Keywords:	DYNAMICS; Motion control; Motion control; CONTROLLERS; intelligent systems; Control system synthesis; Linear systems; Robotics; Control nonlinearities; Control problems; Hydraulic machinery; Internal combustion engines; Control design; Linear parameter varying; LPV control; Kolmogorov; Variables selections; Actuator nonlinearities; Robust LPV control; Scheduling variable selection; Robust LPV control; Scheduling variable; Scheduling variable selection;
Subjects:	Q Science > QA Mathematics and Computer Science > QA75 Electronic computers. Computer science / számítástechnika, számítógéptudomány
Divisions:	Systems and Control Lab
SWORD Depositor:	MTMT Injector
Depositing User:	MTMT Injector
Date Deposited:	28 Jan 2026 21:00
Last Modified:	28 Jan 2026 21:00
URI:	https://eprints.sztaki.hu/id/eprint/11106

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