Response Control of SAIVS system Using LPV Gain-scheduling Controller

This paper presents a Linear Parameter Varying (LPV) gain-scheduling controller to control the response of a Semiactive independently variable stiffness (SAIVS) system. Effectiveness of the LPV Gain-scheduling controller is verified analytically. Simulation results shows that the nonlinear, time-varying stiffness properties of the SAIVS device can be tracked, even when the mathematical model of nonlinear system is only piecewise continuously differentiable, by representing the system in LPV form and by choosing the spring angle of SAIVS as the scheduling parameter. LPV controller is scheduled based on the real-time estimate of the spring stiffness of SAIVS. It is further shown that the adapted method is more effective in response reduction compared to a robust controller.