A gain-scheduling-control technique for mechatronic systems with position-dependent dynamics

This paper presents a gain-scheduling-control technique for mechatronic systems with position dependent dynamics. The proposed method fits in the framework of traditional gain scheduling, where several controllers designed for fixed operating points are interpolated to construct a global gain-scheduling controller. A new interpolation approach is proposed starting from an affine interpolation between the poles, zeros and gains of the local controllers as a function of the varying parameter, resulting in a affine state-space representation. The presented method is applied on an industrial pick-and-place machine which has position-dependent dynamics. Experimental results show the benefit of the proposed method