A Polytopic Approach to Design H∞ Controllers

for Networked LPV Control Systems

Renata Baraldi de Pauli Bastos
and Cristiano Marcos Agulhari
Universidade Tecnológica Federal do Paraná
Cornélio Procópio - PR, Brazil
E-mail: rebaraldi 87@hotmail.com
agulhari@utfpr.edu.br

Abstract—The problem addressed in this paper is a Networked

Control System (NCS) design for linear parameter varying (LPV)
systems, considering that the input signal is subject to delays,
which are inherent to NCS. This paper proposes the use of a
robust stabilization method using a synthesis technique proposed
in literature, which relies on the resolution of a set of Linear
Matrix Inequalities (LMI) conditions. The considered LMIs are
designed based on the concept of H∞ norm and small gain
theorem. The LMI problem is solved in a polytopical way in
this paper, considering that variables are polynomially dependent
of parameters, being the polynomials of arbitrary degree. The
effectiveness of the technique is illustrated by a numerical
experiment.

I. I NTRODUCTION Fig. 1. A typical NCS setup and information flows [4].

Control systems are present in everyday actions. We can
highlight for example the level control system of a water
tank, or the temperature control of showers and air condi-
tioning equipment. These systems, from the simplest to the
most complex, have in common a basic structure, comprising
actuators (device acting as an input to the system), controllers
(calculates how much power the actuator must deliver for
the system to attain the desired behavior) and sensors (which
transforms the value of the measured variable into an electrical
transmission signal can also be modeled as a time delay, i.e.,
the data is sampled and decoded in a digital format, creating
a time difference at communication between both sensor to
controller and controller to actuator.
The delay of communication in an NCS can be categorized
as follows [6]:
• Waiting time: delays related to the wait of control units

signal, compatible with the controller). All these devices for network availability;
interconnected point-to-point by cables are responsible for • Processing time: delay related to the data processing time

information flow [1]. by the network;

With technological advances, in such structure, an increas- • Propagation: delay related to the data transmission time

ing use of devices that communicate over wireless networks
has been observed. The actuators, controllers and sensors are
physically separated and connected by a network. This kind
of control system is known as Networked Control Systems
(NCS). The NCS represent the evolution of control archi-
tectures, providing easier maintenance, diagnosis, and lower
cost of implementation [2]. According to some works in the
literature [3], NCS can be defined as a distributed system,
in which the devices communication occurs through a shared
network. Figure 1 shows the NCS schematically.
In an NCS, there are some problems that can degrade the
system performance and even destabilize the system. Thus, it is
important to consider them on the controller synthesis. One of
the problems found when dealing with NCS is the transmission
delay between the system devices. In fact, it is a center of
discussion about NCS [5]. Moreover, the discretization of the
over the network.
According to [4], the network global delay can be constant,
time-varying, or even random, and depends on the NCS
protocol. The time-varying delay is more common in the
literature, due to represent a greater number of features and
real situations.
Another problem at NCS is the packet dropout, which have
a big influence in the stabilization and performance of this kind
of systems. Some data can be lost during to the information
traffic due errors or network congestion, thus the receptor does
not receive the information sent and therefore can not process
it. According to [3], packet dropouts can be viewed as an
additional delay. In this situation, it can be considered not
lost, since the information issupposed to be retransmitted if a
dropout is detected.
This paper addresses the networked control system design

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 for linear systems with time-varying parameters (LPV) robust
to delay effects. The LPV approach is important since it
can be used to model nonlinear or time-varying systems and
therefore encompasses a wide variety of systems [7]. The
control technique proposed in this paper is based on [8], in
which the input signal is subject to delays, as well as the
dynamics of the LPV system. The synthesis of the controller
is performed through the resolution of a set of Linear Matrix
Inequalities (LMIs). The conditions are treated in a polytopical
way instead at applying a discretization on them which is
performed by [8].
The paper is organized as follows. Section II present the
representation of the system and the problem definition. The
conditions of stability analysis are shown in Section III.
Section IV presents a numerical experiment to illustrate the
method used, and Section V concludes the paper.
II. P ROBLEM S TATEMENT
A. LPV Systems
Consider the following state space model for a linear
parameter varying (LPV) system:
ẋ(t) = A(ρ(t))x(t) + B1 (ρ(t))w(t) + B2 (ρ(t))u(t)
z(t) = C(ρ(t))x(t) + D1 (ρ(t))w(t) + D2 (ρ(t))u(t),
where x(t) ∈ Rn is the state vector, z(t) ∈ Rnz is the con-
trolled output, w(t) ∈ Rnw is the disturbance input and
u(t) ∈ Rnu is the control input. A(.), B1 (.), B2 (.), C(.),
D1 (.) and D2 (.) are the systems matrices and ρ(t) is the vector
of bounded time-varying parameters satisfying
ai ≤ ρi (t) ≤ ai , ai , ai ∈ R, i = 1, 2, . . . , m.
According to [7], it is convenient to represent and analyze
LPV systems as a polytopic framework, where all the matrices
of system (1) are represented as function of variables in
the unit simplex. Such representation allows the utilization
of polytopic-based synthesis conditions, which guarantee the
stability of the controlled system for all ρ(t) satisfying (2).
Definition 1: Consider N ∈ R. The linear combination
co {A1 , A2 , ..., AN } = α1 A1 + α2 A2 + . . . + αN AN
with α ∈ ΛN it is named convex combination
A1 , A2 , . . . , AN , and the set ΛN , known as the unit simplex
of dimension N , is defined as
(
XN
) class of systems [10], and effects as the discretization of the
ΛN = ζ ∈ RN : ζi = 1, ζi ≥ 0, i = 1, 2, . . . , N .
i=1
Moreover the set P of all convex combinations
A1 , A2 , . . . , AN given by

P = ϕ ∈ RN |ϕ = α1 A1 + α2 A2 + . . . + αN AN , ∀α ∈ ΛN
it is the polytope (convex hull) defined by matrices Ai , also
called vertices.
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Given the bounds (2), each parameter ρi (t) can be cast
as an element of an unit simplex of dimension N = 2, by
performing the transformation
ρi − ai
αi1 = , αi2 = 1 − αi1 , αi = (αi1 , αi2 ) ∈ Λ2 ,
ai − ai
i = 1, 2, . . . , m (3)
thus, it is possible to say that


ρi = αi1 ai − ai + ai , i = 1, 2, ..., m.
Since each parameter generates an unit simplex of dimen-
sion N = 2, the set of m parameters of system (1) can be
described using a multi-simplex representation [9], as defined
in the following.
Definition 2: A multi-simplex ΩN is the Cartesian product
ΛN1 ×. . . ΛNm of a finite number m of simplexes. The dimen-
sion of ΩN is defined as the index N = (N1 , . . . , Nm ) and,
for simplicity of notation, RN denotes the space RN1 +...+Nm .
A given element α of ΩN is decomposed as (α1 , α2 , . . . , αm ),
according to the structure of ΩN and, subsequently, each αi
is decomposed in the form (αi1 , αi2 , . . . , αiNi ).
B. Delayed Systems
The advent of communication networks and networked con-
(1) trol systems, where delays are time-varying, further motivated
the analysis of delayed systems. Time-varying delays are more
harmful to stability than time invariant ones [7], and synthesis
conditions considering such delays for time-varying systems
are usually more complex to be generated. In this paper, we
apply an NCS robust synthesis technique on LPV systems,
considering the delay inherent to this kind of control system.
Adding a time-varying delay to the states of system (1), we
(2) have
ẋ(t) = A(ρ(t))x(t) + Ah (ρ(t))x(t − h(t))+
B1 (ρ(t))w(t) + B2 (ρ(t))u(t)
(4)
z(t) = C(ρ(t))x(t) + Ch (ρ(t))x(t − h(t))+
D1 (ρ(t))w(t) + D2 (ρ(t))u(t)
being Ah (.) and Ch (.) the system matrices related to the
delayed states, and h(t) is a scalar denoting time-varying delay
with known bounds 0 ≤ h(t) ≤ hm . This delay h(t) may also
be dependent on parameter ρ, in this case h(t) = h(ρ(.)).
Besides the delay inherent of NCS structures, it is also
necessary to consider that digital control laws are used in this
states may affect the performance of the controlled system.
To this end, consider that the discretized signals are piecewise
constant between to sampling instants. A discretized control
can then be represented as a delayed signal as follows:
u(t) = ud (tk ) = ud (t − (t − tk )) = ud (t − τk (t)),
tk ≤ t ≤ tk+1 , τk = t − tk (5)
 where ud is a discrete-time control signal and the time-varying  P
delay is bounded as τk ≤ tk+1 − tk ≤ τm , with the time- 1,1 P Ah + Rh P Aτ + Rτ
derivative being given by τ˙k (t) = 1 for t 6= tk .

 ? −(1 − ḣ)Qh − Rh 0
According to [8], to potentially improve the performance

 ? ? −Rτ
of the closed-loop system, the control gain is assumed to be
 ? ? ?
updated based on the value of the scheduling parameter at ? ? ?
(8)
corresponding sampling instant, thus ud (tk ) = K(ρ(tk ))x(tk ).
hm AT Rh τm AT Rτ

Replacing ud (tk ) in (4), one has hm ATh Rh τm ATh Rτ 

hm ATτ Rh τm ATτ Rτ  < 0,
 ∀t,
ẋ(t) = A(ρ(t))x(t) + Ah (ρ(t))x(t − h(t))+ −Rh 0 
Aτ (ρ(t))x(t − τk (t)) + B1 (ρ(t))w(t) ? −Rτ
(6)
with 1,1 = AT P +P A+ Ṗ +Qh −Rh −Rτ , and the symbol
P
z(t) = C(ρ(t))x(t) + Ch (ρ(t))x(t − h(t))+
? represents the symmetric block.
Cτ (ρ(t))x(t − τk (t)) + D1 (ρ(t))w(t),
The proof can be seen in [8], which uses the Lyapunov-
being Aτ and Cτ given by
Krasovskii functional (LKF) given by
Aτ = B2 (ρ(t))K(ρ(tk )), Cτ = D2 (ρ(t))K(ρ(tk )). (7)
V (xt , ρ) = V1 (x, ρ) + Vh (xt , ρ) + Vτ (xt , ρ) (9)
Therefore, two classes of delays are considered in this paper:
with
the delay h(t) inherent to the networked control structure, and
the delay τk resultant from the discretization of the states and V1 (x, ρ) = xT (t)P (ρ(t))x(t)
of the time-varying parameters. Z t
Vh (xt , ρ) = xT (ξ)Qh x(ξ)dξ +
t−h(t)
Z 0 Z t
III. M AIN R ESULTS + ẋT (ξ)hm Rh ẋ(ξ)dξdθ
−hm t+θ
Z 0 Z t
Vτ (xt , ρ) = ẋT (ξ)τm Rτ ẋ(ξ)dξdθ
The analysis of LPV systems is mainly based on robust −τm t+θ
stability approaches, where the parameters are considered as
where xt is used to represent x(t + θ) for θ ∈ [−hm , 0]. The
elements of a (multi-)simplex domain, and the stability is
same approach was used for stability analysis of systems with
verified for all values of the domain [7]. In this section we
constant delay is provided by [11].
present the stability analysis considered in this paper for time-
delayed LPV systems. Remark 1: It is possible to observe two derivative terms
∂P
The stability conditions presented in this paper is proposed on condition (8). Matrix Ṗ can be replaced by ρ̇ and,
in [8], which consist of a set of LMIs that guarantee the ∂ρ
due to affine dependency of the matrix inequality on ρ̇ and
stability of the NCS, while minimizing the H∞ norm of supposing that the variation rates of the parameter have known
the controlled system. However, in [8], the resolution of the bounds, the condition need to be feasible onlyat the vertices
conditions were based on the time-discretization of a set of Xs
∂P

variables, which increase the degree of conservatism of the of ρ̇. Thus Ṗ can be replaced with ± νi , and
∂ρi
technique. The main contribution of this paper is to perform i=1
an analysis on the resultant reduction of such conservatism the variables νi can be represented on a simplex domain by
when polytopic techniques, with some generalization on the applying transformations as performed e.g. in [9]. The other
structure of the LMI variables, are applied to the conditions. term is ḣ, and them is simple replaced by its corresponding
upper and lower bounds.
Lemma 1 presents a sufficient condition to ensure the
asymptotic stability of the system (6), as presented in [8]. The synthesis techniques presented on this paper consider
not only the stability for all ρ(t), but also guarantee an upper
Lemma 1: System (6) is asymptotically stable for all 0 ≤
bound for the H∞ norm of the controlled system. As a
h(t) ≤ hm with τk (t) ≤ τm and τ˙k = 1, if there exist a
consequence, the controlled system is robust not only to the
continuously differentiable matrix function P (ρ(t)) ≥ 0 ∈ Rs
variation of the parameters and to the delays, but also to
and constant symmetric matrices Qh ≥ 0, Rh ≥ 0, Rτ ≥ 0
external noises that may affect system stability [12]. Such
such that, for all ρ(t) satisfying the bounds imposed in (2),
robustness is ensured by the Small Gain Theorem [13], which
there is a feasible solution to the following LMI problem1 :
states that the system remains internally stable despite of
affecting uncertainties if the following condition is satisfied
1 For ease of notation, the dependence of the matrices on the parameters 1
ρ(t) are suppressed on the LMIs. k∆(s)k∞ ≤ ⇔ kH(s)k∞ < γ (10)
γ

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 scalars λ2 , λ3 and λ4 such that condition (13), with ˜ 2,2 =
P
where ∆(s) represents the uncertainties affecting the system
represented by the transfer function H(s), and γ is a positive Ṗ + Q̃h − R̃h − R̃τ + λ2 (U AT + AU ) and ˜ 3,3 = −(1 −
P
scalar value. Therefore, lower values of the bound γ imply on ḣ)Q̃h − R̃h + λ3 (U ATh + Ah U ), is feasible for any ρ(t). Then,
greater robustness. the controller gain of state feedback (K) is obtained from
Lemma 2, proposed on [8], states an LMI condition to
guarantee the stability of system (6) and verifying the H∞ K(ρ(t)) = K̃(ρ(t))U −1 (12)
norm of the system.
The computation of a solution for condition (13), as well
Lemma 2: The LPV system (6) is asymptotically stable and
for the state-feedback gain (12), are performed in [8] by the
the condition (10) is satisfied for all 0 < h(t) ≤ hm with
discretization of the time parameter t, using a predefined
τk (t) ≤ τm , τ̇ = 1 and zero initial condition if there exist a
sampling rate, and by the resolution of the LMIs resultant
continuously differentiable matrix function P (ρ(t)) ≥ 0 ∈ Rs
for each sampling time. This procedure is problematic for
and constant symmetric matrices Qh ≥ 0, Rh ≥ 0, Rτ ≥ 0
several reasons. First of all, no analysis of the sampling rate
such that, for all ρ(t) satisfying the bounds imposed in (2),
needed to guarantee the feasibility of the continuous time-
there is a feasible solution to the following LMI problem
varying LMI condition is performed, and insufficient results
 P may be obtained. Another problem is that the trajectory of ρ(t)
1,1 P Ah + Rh P Aτ + Rτ P B1 must be fully known a priori, which limits the cases where
P

 ? 2,2 0 0 the technique may be applied. Finally, the Lyapunov matrix

 ? ? −Rτ 0 P (ρ(t)) is supposed to be independent on ρ(t) in [8], i.e., a

 ? ? ? −γI time-invariant matrix P is considered for solving the condi-

 ? ? ? ? tion. Such problems may increase the conservativeness of the
 ? ? ? ? technique, possibly generating low performance controllers.
? ? ? ? Condition (13), as well as the analysis conditions of Lem-
(11) mas 1 and 2, may be solved using the polytopic approach.
CT hm AT Rh τm AT Rτ

First, the parameter-dependent matrices are rewritten as ma-
ChT hm ATh Rh τm ATh Rτ 
 trices dependent on a multi-simplex domain α by applying the
CτT hm ATτ Rh τm ATτ Rτ 
 transformation depicted in (3). The LMI conditions can then
D1T hm B1T Rh τm B1T Rτ <0
 be represented with a polynomial dependence on the multi-
−γI 0 0 
 simplex parameters. According to [14], sufficient conditions
? −Rh 0  can be obtained by applying the condition to every monomial;
? ? −Rτ as a consequence, one can guarantee the validity of the time-
P varying LMI conditions for every possible ρ(t) within the
with 2,2 = −(1 − ḣ)Qh − Rh .
bounds in (2) by verifying a finite set of conditions, without
As Lemma 1, this proof can also be found in [8], which needing a priori information on the trajectories of ρ(t).
first used a similar LKF to introduced in Lemma 1 and after
Another advantage of the polytopic representation is that
applied the congruence transformation I .
there is no problem on using the parameter-dependent vari-
ables on the conditions, as opposed to the need of forcing them
 
I 0 0 0 0 0 0
0 I 0 0 0 0 0 to be parameter-independent as done in [8]. On the other hand,
it is necessary to previously define a structure for such vari-
 
0 0 I 0 0 0 0
I = ables. The resolution technique proposed in this paper consider
 
0 0 0 0 0 I 0

0 0 0 0 0 0 I  that the variables are polynomially dependent on the multi-
simplex parameters, being the polynomials homogeneous of a
 
0 0 0 I 0 0 0
0 0 0 0 I 0 0 given degree g, as described in (14). According to [14], if the
degree g is sufficiently high, then there is no conservativeness
Less conservative results can be obtained by adding slack of choosing such a structure. Another contribution of this
variables on the condition of Lemma 2. Such addition, as paper is to analyze the effect of increasing the degree of the
well as the adaptation of Lemma 2 to compute stabilizing polynomial variables on the resultant control laws. The general
gain-scheduling state-feedback controllers, is presented on structure considered in this paper is, therefore, given by
Lemma 3. X
Pg (α) = kN
α1k1 ...αN Pk , k = k1 k2 ...kN , (14)
Lemma 3: Consider the time-delay LPV system (6). There
k∈K(g)
exists an NCS controller of the form (5) such that the system
is asymptotically stable and satisfies (10) for all 0 < h(t) ≤ being α1k1 ...αN kN
,α ∈ ΛN , ki ∈ Z+ , i = 1, ..., N the
hm and τk (t) ≤ τm , τ̇ = 1, if there exist a continuously monomials, and Pk ∈ Rn×n , ∀k ∈ K(g) are matrix-valued
differentiable symmetric matrix function P (ρ(t)) ≥ 0 ∈ Rs , coefficients. Here, by definition, K(g) is the set of N-tuples
matrix function K̃(ρ(t)), constant symmetric matrices Q̃h ≥ obtained as all possible combinations of nonnegative integers
0, R̃h ≥ 0, R̃τ ≥ 0 and U ≥ 0, a positive scalar γ and real ki , i = 1, ..., N such that k1 + k2 + ... + kN = g.

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  
−2U P̃ − λ2 U + AU −λ3 U + Ah U −λ4 U + B2 K̃ B1 0 hm R̃h τm R̃τ
 ? P˜ R̃h + λ3 U AT + λ2 Ah U R̃τ + λ4 U AT + λ2 B2 K̃ λ 2 B1 U CT 0 0 
 2,2 

 ? ? ˜
P
λ4 U ATh + λ3 B2 K̃ λ3 B1 U ChT 0 0 

3,3
−R̃τ + λ4 (K̃ T B2T + B2 K̃) K̃ T D2T
 
 ? ? ? λ4 B1 0 0  <0 (13)
D1T

 ?
 ? ? ? −γI 0 0  
 ?
 ? ? ? ? −γI 0 0  
 ? ? ? ? ? ? −R̃h 0 
? ? ? ? ? ? ? −R̃τ

When considering the polynomial structure on the multi- Also, it is considered that the time-varying delay is bounded
simplex parameters, it is necessary to perform some addi- as 0.015 < h(t) < 0.15, and considering the state vector to
T
tional computations, as the homogenization of the simplex be x = [x1 x2 ẋ1 ẋ2 ] one has the system matrices:
variables [9]. These procedures are performed in this paper  
with the help of the ROLMIP toolbox [15], which is a 0 0 1 0
computational package aimed to deal with the resolution  0 0 0 1 
A= −10.34 + ρ1 (t) 10 0

of parameter-dependent LMI conditions, whose variables are 0 
polynomially dependent on the parameters. 5 −15 0 −0.25
Finally, the polytopic approach can be considered conser- 
0 0 0 0

vative since the conditions guarantee the stability for every  0 0 0 0
possible value of ρ(t) within the given bounds, even if some Ah =  0.34 − ρ1 (t) 0 0 0

values are not reached in some cases. However, in practical 0 0 0 0
settings it is preferable to guarantee the robustness of the    
control, which is always attained by the resolution procedure 0 0
proposed in this paper. 0 0
B1 = 1 , B2 =  0 
  

IV. N UMERICAL E XPERIMENTS 0 0.5

   
To prove the efficiency of the proposed method, we present 1 0 0 0 0
a numerical example. In order to compare the method used C = 0 1 0 0 , D2 =  0 
in [8] with the technique proposed in this paper, the same 0 0 0 0 0.1
numerical example is analysed, which is the chattering of
Considering the bounds of the time delay, we have hm =
a milling machine, illustrated in Figure 2. It is important
0.15. According to Remark 1, ḣ can be replaced by its
to note that in this example is considered the delay from a
corresponding upper and lower bounds, namely hm . We also
sampled system and not specifically an NCS. However, it can
set τm = 0.1, and considered λ2 = 1.3, λ3 = 0.2 and λ4 = 1.5
be used for this purpose, since delays inherent in the NCS
for condition (13). The same conditions were considered by
comes from the discretization signal for communication via
[8].
the same network, therefore similar to the sampled system.
For this example, the controller is obtained by applying
The system consist of a spindle of mass m2 = 2Kg,
Lemma 3, considering the LMI variables (P̃ , K̃, Q̃h , R̃h and
and two-blades cutter of m1 = 1Kg. Also two springs with
R̃τ ) as polynomially parameter dependent of generic degree g.
stiffness k1 = 10N/m and k2 = 20N/m and damping with
In order to evaluate the efficiency of the results was performed
the coefficient c = 0.5N/m.s are lumped in the model. It is
a test considering the polynomial degree g ∈ {0, 3}, and to
also considered β = 70 ◦ .
the construction and interpretation of the LMIs we used the
The force acting on the tool is a function not only of
computational package ROLMIP.
the current displacement of the tool, but also of the surface
Considering g = 0 we obtain γ = 0.8344, however when
characteristics, which affected the displacement at the previous
the degree is increased to 1 there is a reduction in the value of
tool pass, inducing therefore a delay into the system. The force
the γ to 0.8179. The same value is obtained when the degrees 2
depends also on the angular position of the blade, which plays
and 3 are considered. Both values of γ are lower than γ = 2.4
the role of a time-varying parameter. As shown in the figure,
obtained by [8]. Thus, in general it is possible to confirm that
for this example, the cutter has two blades that are used to
the use of parameter dependent variables and the polytopic
remove the material of the workpiece. The blades are assumed
framework implies in a reduction of conservatism, which can
to rotate at a constant speed (ω). Thus, it was considered a
be noted through of lower values of γ, and consequently on
unique LPV parameter, ρ1 = cos(2φ(t) + β(t)), with bounds
greater robustness.
given by
Such reduction on γ can be explained by the application of
ρ1 ∈ [−1 1], |ρ̇1 | = |−2ω sin(2φ(t) + β))| ≤ 418.9(rad/sec) the polytopic approach for determining the gain, which con-

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 Fig. 3. Simulation results of displacement of cutter and spindle, g = 0.

Fig. 2. A simple schematic of a milling process [16].

siders the entire parameter space, instead of considering only

a few parameter values as done when applying a discretization
procedure.
Moreover, comparing the computational cost of each
method, on can state that the proposed method has less
computational effort, since in the polytopic analysis the result
is independent of the simulation time, which is not the case
when dealing with the problem through a time discretization,
where the result is strongly linked to the analysis interval.
In the following, it is shown the simulation results of the Fig. 4. Simulation results of displacement of cutter and spindle, g = 1.
system considering the conditions aforementioned and affected
by a rectangular disturbance w(t) with amplitude = 1 and
frequency = 0.1Hz. Figure 3 illustrates the simulation of the
displacement of cutter (x1 ) and spindle (x2 ) with the gain
obtained considering g = 0 and Figure 4 considering g = 1.
It is apparent that the proposed method is efficient, since
the system is stabilized around 8.8s considering g = 0 and
around 8.5s considering g = 1. The control energy necessary
to both case can be observed on Figure 5. It is possible to
check that the control energy necessary considering g = 1 is
lower than considering g = 0.
Comparing the results with the obtained by [8] it is possible
to confirm that even using a more robust method, the simu-
lation results were very similar. The amplitude of the states
signs, control energy necessary and also the time required for
stabilization can be considered the same.
V. C ONCLUSION
Fig. 5. Control energy.
The main objective of this paper was to analyze the control
strategy of a LPV system with delayed input, which are inher-
ent to NCS, by solving a set of LMI with variables parameters

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 dependent. The conditions were treated in a polytopic way,
minimizing the value of γ and by consequence the value of
H∞ norm. Through a numerical example was tested its effi-
cacy and comparing with a method for discretization, proposed
at literature was possible to prove a greater robustness the
method proposed, since have been obtained lower γ values.
However worth mentioning that this robustness did not cause
difference in the simulation of control action.
As a suggestion for future work to consider the set of
LMI the concept of H2 norm, which takes into account the
performance of the control system and not only the robustness
as H∞ norm. Therefore is possible to get a lower control
energy, while maintaining the robustness of the system.
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