Gain-scheduled controller design: MIMO systems

Gain scheduling (GS) is one of the most popular approaches to nonlinear control design and it is known that GS controllers have better performance than robust controllers. Following the terminology in control engineering linear parametervarying (LPV) systems are time-varying plants whose state space matrices are fixed functions of some vector of varying parameters. Our approach is based on considering the LPV system and scheduling parameter and their derivatives with respect to time are supposed to lie in a priori given hyper rectangles. For guarantee the performance we use the notion of guaranteed cost and optimised to given a cost function. The class of control structure includes decentralised fixed order output feedback like PID controller. Numerical examples illustrate the effectiveness of the proposed approach.