Robust Gain Scheduling Control Design in Frequency Domain

Gain scheduling control has proven to be a successful nonlinear plant control in many engineering applications. However, if the plant model belongs to an uncertain class and there is absence of a robust gain scheduled controller design procedure, these designs come with no guarantees of robust stability and performance. This paper presents a new robust gain scheduled controller design for uncertain stable MIMO and SISO systems in the frequency domain. The proposed method is based on the Small Gain Theory and known M-delta structure of a closed loop system in the frequency domain. An example illustrates the effectiveness of the proposed gain-scheduled controller.