Abstract
The gain scheduling control mostly has been developed based on Jacobian linearization around the operating points related with scheduling variables. In this paper, We introduce a gain scheduling control method based on approximate input-output linearization. First, the nonlinear system is approximately input-output linearized via a diffeomorphism. Then, a gain scheduling controller with derivative information is developed. The proposed controller consists of two parts. The outer loop controller is like a feedback linearizing controller and the internal controller is a gain scheduling controller. It is shown that the overall resulting controller has a simple structure and at the same time achieves better tracking performance over the existing Jacobian-based gain scheduling controller.
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Kwon, HY., Choi, HL. Gain scheduling control of nonlinear systems based on approximate input-output linearization. Int. J. Control Autom. Syst. 12, 1131–1137 (2014). https://doi.org/10.1007/s12555-013-0462-5
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DOI: https://doi.org/10.1007/s12555-013-0462-5