Novel robust gain scheduled PID controller design using D_R regions

This paper develops a new design procedure for robust output feedback gain scheduled and switched PID controller design for a linear parameter varying discrete-time system with polytopic uncertainties. The proposed approach is based on D-R regions for robust pole placement and allows to consider also other performance indices. The design procedure aims to design a robust PID gain scheduled and switched controller for polytopic gain scheduled and switched plant model such that the closed-loop eigenvalues for fixed gain scheduled parameters are in the prescribed D-R region and the corresponding quadratic performance has the minimal value. The obtained design procedure can be also used to design a robust discrete-time switched controller with arbitrarily switching law.