Linear Parameter Varying control synthesis: State feedback versus H∞ technique with application to quadrotor UA V

This paper focuses on the synthesis of Linear Parameter Varying (LPV) control based on two different LPV control structures. In the first structure the H∞ self-Gain-Scheduling (GS) control technique is used to obtain the LPV controller and in the second method, the composite quadratic Lyapunov function and the quadratic cost function are used to find the optimal state feedback gain. Finally, a six-degree of freedom quadrotor helicopter is used as an illustrative plant to compare the results of both LPV control structures.