Abstract
Gain scheduling is comparable to feedforward compensation and is highly sensitive to modeling errors. In this paper, the errors are represented by variations in the uncertain physical parameter θ under changes in process dynamics. For a state of the process specified by the auxiliary variable α, the variational region in the θ-space can be mapped into the space of transfer function parameter p. An orthotope Rp is defined in the p-space as the region of required tolerance through such mapping. On the other hand, the inherent region of system tolerance Sp is the set of p at which the proposed schedule rule can satisfy the admissible system performance. An iterative design algorithm was developed to find a schedule rule so that Sp includes Rp for a selected set of α. Application of robust gain scheduling to a reactor system with catalyst decay was studied to illustrate the effectiveness of the proposed design method.
