Weighted incremental norm: a new approach to gain scheduling

The weighted incremental norm approach was originally introduced as a natural framework for extending well-known ℋ_∞ linear control concepts into the nonlinear context. We investigate the numerous links between this new approach and the classical gain-scheduling technique: more precisely, we show that the control objectives of the gain-scheduled controller design can be expressed as the weighted incremental norm minimization of a nonlinear operator. The result interest is twofold: it first provides a rigorous mathematical formulation of the gain-scheduling problem. Furthermore, existing gain-scheduling techniques can be interpreted as approximate solutions to the weighted incremental norm minimization of a nonlinear operator