Robust model reference control of linear parameter‐varying systems with disturbances

This paper deals with the design and analysis of robust model reference control systems for a class of linear parameter‐varying (LPV) systems with disturbances. Two types of robust model reference control systems are proposed to achieve a prescribed tracking performance. The first type is the LPV state‐feedback model reference control system and the second type is the LPV output‐feedback model reference control system. Based on the notion of quadratic stability, necessary and sufficient conditions for the existence of LPV reference models are given. Also, a parameterisation of LPV reference models is derived in this study. A practical example of a single‐link flexible‐joint robot is given to illustrate the design steps and to show the effectiveness of the proposed LPV model reference controllers.