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Stable Gain Scheduling Through Bumpless Transfer

[+] Author Affiliations
Brandon Hencey, Andrew Alleyne

University of Illinois at Urbana-Champaign

Paper No. IMECE2005-82146, pp. 93-100; 8 pages
  • ASME 2005 International Mechanical Engineering Congress and Exposition
  • Dynamic Systems and Control, Parts A and B
  • Orlando, Florida, USA, November 5 – 11, 2005
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 0-7918-4216-9 | eISBN: 0-7918-3769-6
  • Copyright © 2005 by ASME


In this paper, a method of interpolating a priori designed controllers for gain scheduling using notions developed in anti-windup and bumpless transfer is discussed. In contrast with many approaches that guarantee stability by design of of the controllers as a set, it is often desirable to design and tune each controller individually and gain schedule the resulting controllers. Using the bumpless transfer techniques discussed, this paper puts forth a method of scheduling the controllers in a stable manner for sufficiently slow scheduling variables.

Copyright © 2005 by ASME
Topics: Gain scheduling



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