Off-equilibrium linearisation and design of gain-scheduled control with application to vehicle speed control

Abstract

In conventional gain-scheduled control design, linearisation of a time-invariant nonlinear system and local control design for the resulting set of linear time-invariant systems is performed at a set of equilibrium points. Due to its validity only near equilibrium, such a design may result in poor transient performance. To resolve this problem, one can base the control design on a dynamic linearisation about some nominal trajectory. However, a drawback with this approach is that control design for the resulting linear time-varying system is in general a difficult problem. In this paper it is suggested that linearisation and local controller design should be carried out not only at equilibriu..