(Quasi) LPV control methods and more generally L2 gain control methods, referred to as nonlinear H infinity control methods, are usually applied in order to ensure reference tracking and disturbance rejection. In this paper, we exhibit a counterexample that reveals that these specifications can not be ensured by these methods. We then propose a new LPV based approach in order to a priori ensure these specifications by combining the LPV method with the incremental L2 gain analysis of nonlinear performance. Its benefit is illustrated on the counterexample.
Toward nonlinear tracking and rejection using LPV control