A velocity algorithm for the implementation of gain-scheduled controllers

Nonlinear Gain Scheduled Controller For A Sphere Liquid Tank

“…Most efforts have been devoted to the analytical framework (Shamma and Athans 1990;Rugh 1991) and common principles for gain scheduling and less attention engineering application except few applications in car engines (Jiang 1994;Kaminer et al 1995). It seems that technological processes have not caught the attention of researches in the context of a gain scheduling.…”

On the design of gain‐scheduled trajectory tracking controllers

“…Instead, the paper guides the reader through the steps that are commonly adopted in the design of a gain scheduled controller and shows clearly what procedures are required in the case of rigid body trajectory tracking control. As such, it illustrates the following classical steps in the development of a gain scheduled controller for a given plant [9,10]:…”

“…In fact, ad-hoc methodologies for controller implementation will often lead to poor performance of even instability even at a local level. This is due to the presence of so-called hidden coupling [9,10]. To obviate this problem, an extension of so-called D-methodology [10] for the implementation of gain scheduled controllers is introduced in this paper.…”

“…This is due to the presence of so-called hidden coupling [9,10]. To obviate this problem, an extension of so-called D-methodology [10] for the implementation of gain scheduled controllers is introduced in this paper. The resulting gain scheduled control law exhibits two main properties:…”

“…Auto trimming property}The non-linear controller implementation does not require that the trimming values of all state variables and inputs be fed into the controller. Surprisingly, the first property is often not satisfied by gain scheduled controllers proposed in the literature [10] due to the presence of hidden coupling. This paper shows how a simple implementation strategy overcomes this problem.…”