Compensating for plant nonlinearities: gain-scheduling or feedback linearisation?

摘要

Controllers designed by the gain-scheduling and feedback linearisation methodologies are analysed and compared for a class of SISO plants which encompasses a wide variety of practical applications. These controllers are, on the face of it, quite different both in structure and with regard to their range of applicability. Nevertheless, the feedback linearisation and gain-scheduling solutions are, with regard to their linearising action, shown to be equivalent. The equivalence does not, however, extend to the robustness and ease of implementation. In particular, full plant state information is required for feedback linearisation but not gain-scheduling.