A Pragmatic Approach to Robust Gain Scheduling

An input-output approach to gain scheduling is proposed using a structure that is motivated by the Youla-Kucera parameterization of stabilizing controllers. We present the design in terms of a tradeoff between model uncertainty and aggressiveness of the controller. This approach enables a constructive technique that allows practitioners to design globally stabilizing gain scheduled controllers for a broad class of nonlinear multivariable plants using linear control structures and design techniques that are common in industrial practice.