Gain-scheduling control for mechatronic systems with po- sition dependent dynamics

Abstract This paper presents a gain-scheduling-control technique for mechatronic systems with position-dependent dynamics. The proposed method fits in the framework of traditional gain scheduling, where several controllers designed for fixed operating points are interpolated to construct a global gain-scheduling controller. A new interpolation approach is proposed starting from an affine interpolation between the poles, zeros and gains of the local controllers as a function of the varying parameter, resulting in a polynomial state-space representation. The presented method is applied on an industrial pick-and-place machine which has positiondependent dynamics. Experimental results show the benefit of the proposed method.