H∞Optimization-based robust decoupling control algorithm in linear parameter varying systems using Hadamard weighting

Adnan Jafar, Aamer Iqbal Bhatti, Sarvat M. Ahmad*, Nisar Ahmed

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

1 Scopus citations


This article proposes a novel gain scheduled control technique for a class of linear parameter varying (LPV) systems with main emphasis on reducing the cross coupling interaction in dynamics using the Hadamard weight. By employing the Hadamard and the conventional H performance weighting, an extended H closed loop norm LPV theorem is derived that involves traditional H weights for input output shaping control and Hadamard weight for decoupling control. Furthermore, a robust dynamic output feedback gain scheduled control law is designed to solve the control optimization problem in the proposed theorem using the linear matrix inequality (LMI) approach. It is shown that the proposed theorem is suitable for the multivariable control of multiple input multiple output (MIMO) coupled non-linear systems. In particular, in presence of cross coupled dynamics, external disturbances, changing operating conditions and time varying parameters. The effectiveness of the proposed technique is demonstrated in simulation as well as validated with experiments.

Original languageEnglish
Pages (from-to)1833-1848
Number of pages16
JournalTransactions of the Institute of Measurement and Control
Issue number7
StatePublished - 1 Apr 2019
Externally publishedYes

Bibliographical note

Publisher Copyright:
© The Author(s) 2018.


  • Gain-scheduling control
  • Hadamard weight
  • LMI
  • LPV systems
  • coupling reduction
  • non-linear control
  • robust control

ASJC Scopus subject areas

  • Instrumentation


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