Representation of a class of nonlinear systems with parameter-dependent linear approximations

This paper considers the synthesis of quasi-parameter dependent linear systems from a class of nonlinear differential equations describing certain nonlinear systems. The method presented facilitates the process of designing controllers that are also parameter-dependent. It exploits some recent techniques for synthesising gain-scheduled controllers that incorporate the available measurement of the dependent parameter and results in higher performance, since it automatically adjust to the current plant dynamics. Hidden coupling terms which normally occur in this process are formally addressed