The problem of Robust Switching Gain-Scheduled Output-Feedback (RSGSOF) ${\mathcal{H}}_2$ controller synthesis with control bumps limitation is tackled in this paper for polytopic uncertain continuous-time linear parameter varying (LPV) systems. The presented robust switching gain-scheduled control design scheme overcomes the limitation of existing methods based on single quadratic Lyapunov function. However, in practice, RSGSOF controller leads to expressive discontinuities at switching instants. Hence, we aim to investigate of ${\mathcal{H}}_2$ output-feedback Bumpless Transfer Controller (BTC) design problem. In this study, not only stability and an upper bound on the ${\mathcal{H}}_2$-norm performance of the closed-loop system can be guaranteed but also solvability conditions are incorporated in the synthesis procedure to reduce control bumps. The proposed BTC composes multiple LPV controllers with the bumps limitation objective and a Lyapunov-based min-switching rule governing the switching among these controllers. Numerical studies demonstrate the effectiveness of the proposed approach.

稳健开关增益调度输出反馈 (RSGSOF) 问题 ${\mathcal{H}}_2$本文针对多面体不确定连续时间线性参数变化 (LPV) 系统解决了具有控制凸块限制的控制器合成问题。所提出的稳健开关增益调度控制设计方案克服了现有基于单二次 Lyapunov 函数的方法的局限性。然而，在实践中，RSGSOF 控制器会在切换瞬间导致表现不连续。因此，我们的目标是调查${\mathcal{H}}_2$输出反馈无扰动传输控制器 (BTC) 设计问题。在这项研究中，不仅稳定性和上界${\mathcal{H}}_2$- 可以保证闭环系统的标准性能，但在合成过程中还结合了可解性条件以减少控制颠簸。所提出的 BTC 由多个 LPV 控制器组成，具有颠簸限制目标和基于 Lyapunov 的最小切换规则来管理这些控制器之间的切换。数值研究证明了所提出方法的有效性。