Interpolation of observer state feedback controllers for gain scheduling

We propose a method of interpolating linear time-invariant controllers with observer state feedback structure in order to generate a continuously-varying family of controllers that stabilizes a family of linear plants. Gain scheduling is a motivation for this work, and the interpolation method yields guidelines for the design of gain scheduled controllers. The scheduling method is illustrated with the design of a missile autopilot using loop-shaping H-infinity controllers. Technical Report JHU/ECE 97-09 1