Synthesis of gain scheduling controllers for nonlinear batch processes

In this paper, a design methodology has been developed for the control of nonautonomous batch processes which typically require good tracking performance. The design, based on the framework of differential geometric methods and linear gain scheduling theory, involves a multiloop structure. The inner loop is an input-output linearizing state feedback law based on a nominal, time-invariant plant model. The outer loop includes a gain scheduling controller which provides the desired stability and tracking performance in the face of time varying parameters.