Leith, D. J. and Leithead, W.E.
Appropriate Realisation of MIMO Gain-Scheduled Controllers.
International Journal of Control, 70.
The dynamic characteristics of a controller designed by the gain-scheduling approach can be strongly dependent on
the realisation adopted; that is, the manner in which the local linear controller designs are combined to obtain a nonlocal
controller. The purpose of the present paper is to investigate the choice of appropriate realisations for general
MIMO gain-scheduled controllers. An extended local linear equivalence condition for MIMO gain-scheduled nonlinear
controllers is proposed which minimises the controller nonlinearity. It is shown that, with few exceptions, it is possible
to realise all gain-scheduled controllers as nonlinear controllers satisfying the extended local linear equivalence
condition and requiring the controller to do so is not at all restrictive.
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