Gain-scheduling control for mechatronic systems with position dependent dynamics

Abstract This paper presents a gain-scheduling-control technique f or mechatronic systems with position-dependent dynamics. The proposed method fits in the framework of tradit ional gain scheduling, where several controllers designed for fixed operating points are interpolat ed to construct a global gain-scheduling controller. A new interpolation approach is proposed starting from an af fi e interpolation between the poles, zeros and gains of the local controllers as a function of the varying pa rameter, resulting in a polynomial state-space representation. The presented method is applied on an indus trial pick-and-place machine which has positiondependent dynamics. Experimental results show the benefit o f the proposed method.