Stability preserving interpolation methods for the synthesis of gain scheduled controllers

Synthesis of gain scheduled controllers for nonlinear plants often requires that a parameter-varying controller be generated from a finite set of linear time-invariant controllers. We propose interpolation methods for this task with the property that stability of the linearized closed-loop system is preserved for all values of the scheduling parameter. In addition, slow-variation arguments are presented that establish local stability of the nonlinear closed-loop system with gain scheduled controller.

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