Abstract
This paper addresses an interesting switching strategy of gain-scheduled controllers for linear parameter-varying systems. Dividing a whole of an operating range into some small subranges which are covered with a set of convex hulls, we design gain-scheduled controllers via linear matrix inequalities for each subrange while using a common Lyapunov function for each but non-common for others. We then switch from one gain-scheduled controller to another in an intersection of two neighbor convex hulls online. Although switching action generally generates non-smooth control input which may cause undesired behavior and even instability, our proposed method guarantees perfect smooth switching to avoid such behavior. A design example of aircraft longitudinal motion control is included.
