Gain scheduling dynamic linear controllers for a nonlinear plant

† Industrial Control Centre, Dept. of Electronics & Electrical Engineering, University of Strathclyde, 50 George St., GLASGOW G1 1QE, U.K. Tel. (0141) 552 4400, Fax: (0141) 548 4203, email: [email protected] Abstract Lawrence & Rugh (1995), Kaminer et al. (1995) propose that the realisation for a gain-scheduled controller should be chosen to satisfy a local linear equivalence condition. However, this provides an inadequate basis selecting an appropriate realisation. Many realisations satisfy the local linear equivalence condition yet are not equivalent and can exhibit quite different dynamic behaviour. Furthermore, the condition imposes restrictions on the controller states and inputs which are not a priori necessary.