Leith, D. J. and Leithead, W.E.
Appropriate realisation of gain-scheduled controllers with application to wind turbine regulation.
International Journal of Control, 65.
Power regulation of horizontal-axis grid-connected up-wind constant-speed pitch-regulated wind turbines
presents a demanding control problem with the plant, actuation system and control objectives all strongly
nonlinear. In this paper, a novel nonlinear control strategy is devised which, in some sense, optimises
performance across the operating envelope. In comparison with linear control, the nonlinear strategy
achieves a substantial improvement in performance. The realisation adopted is crucial in attaining the
required performance. An extended local linear equivalence condition is introduced which provides a basis
for the selection of an appropriate realisation. This is an important, and general, issue in the design of gainscheduled
systems and generic realisations, which satsify the extended local linear equivalence condition, are
derived for SISO systems scheduled upon an internal plant or controller variable. For the wind turbine
nonlinear controller, realisations which satisfy the extended local linear equivalence condition provide a
substantial improvement in performance in comparison to linear control and realisations which do not satisfy
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