A simple gain scheduled PID controller with stability consideration based on a grid-point concept

It is well known that through gain scheduling control, linear design methods can be used to tackle the control problem of nonlinear systems with linearized models at different operating points. A simple gain scheduled PID controller based on a grid-point approach is proposed. By deriving the stable operation subspace for each grid-point defined in the parameter space, the closed-loop system can be designed systematically with a wide operating range and minimum number of linear controllers for scheduling. The stability of the closed-loop system is also guaranteed