Incremental gain scheduling and eigenvalue tracking for robust pole assignment in extended linearization of nonlinear control systems

The principle of extended linearization is widely used for the control of nonlinear continuous-time processes which can be described in a quasi-linear form. For this class of systems, the gain matrix of linear state feedback controllers is usually adapted in such a way that the eigenvalues of the closed-loop control system are equal to predefined values and such that they remain fixed in spite of the system´s nonlinearity. However, classical numerical routines for pole assignment for multiple-input multiple-output systems do not allow for real-time application in rapid control prototyping environments. Therefore, a novel algorithm based on the online solution of initial value problems for the desired controller gains is presented in this paper. Simulations and experimental results are given to highlight the applicability and robustness of this approach. An overview of suitable extensions to further observer-based control tasks concludes this paper.