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Robust Gain Scheduling Control Design in Frequency Domain

Jakub Osuský(1*), Vojtech Veselý(2)

(1) Institute of Automotive Mechatronics Faculty of Electrical Engineering and Information Technology Slovak University of Technology in Bratislava, Slovakia
(2) Institute of Robotics and Cybernetics Faculty of Electrical Engineering and Information Technology Slovak University of Technology in Bratislava, Slovakia
(*) Corresponding author



Gain scheduling control has proven to be a successful nonlinear plant control in many engineering applications. However, if the plant model belongs to an uncertain class and there is absence of a robust gain scheduled controller design procedure, these designs come with no guarantees of robust stability and performance. This paper presents a new robust gain scheduled controller design for uncertain stable MIMO and SISO systems in the frequency domain. The proposed method is based on the Small Gain Theory and known M-delta structure of a closed loop system in the frequency domain. An example illustrates the effectiveness of the proposed gain-scheduled controller.
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Gain Scheduled Control; Small Gain Theorem; Frequency Domain

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