Gain-Scheduled Control via Convex Nonlinear Parameter Varying Models

Abstract

A nonlinear system with sector-bounded nonlinearities can be expressed as a quasi-LPV system (convex combination of linear models, with state-dependent interpolation coefficients). The quasi-LPV class of models is generalised to the so-called convex difference inclusion (CDI) modelling framework by M. Fiacchini and coworkers in several of their works; they propose robust controllers enlarging polytopic domain of attraction estimates. This works further generalises the CDI approach to a gain-scheduled case. As most set-based approaches, the proposal is tractable in low-dimensional cases.