Robust $H_{\infty}$ Output Feedback Controller of Motorcycle Dynamic Model

This paper deals with a robust $H_{\infty}$ static output feedback controller for motorcycle dynamics described by an uncertain reduced LPV model. In order to obtain a robust control, an uncertain LPV model is firstly developed by taken into account the nonlinearities of the lateral forces and the longitudinal velocity variation. Then, a robust static output feedback controller is designed under steering angle variations. Based on Lyapunov theory and $H_{\infty}$ approach, controller design has been formulated in terms of small number of Linear Matrix Inequalities (LMIs). The proposed approach has been evaluated using Yalmip/MATLAB toolbox and SimulinkIMATLAB software.