Selecting operating points for discrete-time gain scheduling

Kenneth H. McNichols / M. Sami Fadali Department of Electrical Engineering / MS 260 University of Nevada, Reno Reno, NV 89557 [email protected] / [email protected] Abstract Gain scheduling is a popular approach for nonlinear control system design. A controller is obtained by designing a set of controllers at operating points and then linearly interpolating controller values between them. However, little guidance has been provided in the literature for the selection of operating points. We use interval mathematics and a classical synthesis design approach to determine a near minimal set of design points and assess the quality of a gain scheduled controller. A sufficient condition for the assignment of the system closed loop poles is developed, and an algorithm for selecting the operating points is provided. An example is given to demonstrate the approach.