(A) study on gain scheduled controller based on the error bound of nonlinear systems with time varying parameters

Abstract

Gain scheduling has a long pedigree and having originated in flight control, has been widely employed in a variety of applications where high performance has to be achieved over a broad operating enveloped. In this thesis we design a gain scheduled controller based on the error bound of nonlinear systems with time varying parameters. Two controller design methods are suggested in the thesis. One is a robust controller for the uncertain nonlinear system with the unmodeled dynamic and the disturbance. The other is a controller to obtain the closed-looped frozen system``s stability and the desired error bound at the fixed point. Finally, we apply the proposed controller to the active suspension system and verify the performance.