Practical Approaches to Nonlinear Control

Control techniques explicitly based on nonlinear process models have received much research attention in recent years, while little emphasis has been given to traditional nonlinear control. This paper reviews traditional nonlinear control techniques, including gain scheduling, measurement transformations and selection of actuator characteristics. Included is a review of nonlinear PI-based approaches that have been applied to linear systems, such as surge drum level control. Although the focus is on traditional applications, recent work combining fuzzy logic control with gain scheduling or nonlinear Pi-based control is also surveyed. We also develop a general procedure for gain scheduling of Hammerstein systems and control-affine systems with a specific structure. Low-order tutorial examples are provided to illustrate problems satisfying “linearization conditions” when performing gain scheduling.

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