Gain-scheduled control based on linear parameter-varying (LPV) models derived from local linearizations is a widespread nonlinear technique for tracking time-varying setpoints. Recently, a nonlinear control scheme based on Control Contraction Metrics (CCMs) has been developed to track arbitrary admissible trajectories. This paper presents a comparison study of these two approaches. We show that the CCM based approach is an extended gain-scheduled control scheme which achieves global reference-independent stability and performance through an exact control realization which integrates a series of local LPV controllers on a particular path between the current and reference states.
|Number of pages||6|
|Publication status||Published - 1 Jan 2019|
|Event||3rd IFAC Workshop on Linear Parameter Varying Systems, LPVS 2019 - Eindhoven, Netherlands|
Duration: 4 Nov 2019 → 6 Nov 2019