Analysis and control of system described using multiple models: a case study

This paper studies the problem of controlling a complex nonlinear system via a bank of linear models. Each local linear model is valid within a neighborhood of an operating point. The system under study is a simplified vehicle model. For this system we follow the approach presented by Marquez. From the original nonlinear model, we identify a set of equilibrium points, each obtained for a certain constant input. Linear models are then obtained at each one of these operating points. Next we study the problem of limiting the use of these local models to a limit region of the state space. The results of the paper give an example of addressing the analysis and control problems of a nonlinear model by using multiple local models. It is also a re-formulation of the classical theory of input-output.