DESIGN OF CONTROLLER FOR NONLINEAR SYSTEMS BY THE GAIN SCHEDULING TECHNIQUE

摘要

A gain scheduling controller is a linear regulator whose parameters are changed as a function of the varying operating conditions. By treating nonlinearities as uncertainties, the methods can be used in gain scheduling design. In the discussion, emphasis is put on how to take into consideration different characteristics of the time-varying properties of the system to be controlled. Also robustness and its relation with gain scheduling are treated. In order to handle systems with time-invariant uncertainties, both linear systems and constant parameters, a set of scalings and multipliers are introduced. These are matched to the properties of the uncertainties. Also, multipliers for treating uncertainties that are slowly varying, such that the rate of change is bounded, are introduced. Using these multipliers the applicability of the analysis and synthesis results are greatly extended.