Multiple Model Analysis For Nonlinear And Gain-scheduled PID Controller Design

A novel method of selecting reasonable operating points and local models for nonlinear systems will be presented in this paper, also a gain-scheduled PID controller design method developed accordingly. Firstly, reasonable operating points and local linear models with their operating ranges for a nonlinear system were selected with gap metric theory. Secondly, local robust PID controllers based on local linear models were designed for each operating point. Thirdly, local controller switching was implemented through Hanus anti-windup bumpless transfer technique to form an overall gain-scheduled PID controller for the nonlinear system in the end. The example design at the end of this thesis achieved good results and proved that this is a simple and practical controller design method with excellent robust performance, and that the method of selecting reasonable operating points is correct. Li Caiyong (control theory and control engineering)Directed by Prof. Tan Wen...