Automated tuning of gain-scheduled control systems

This paper describes an application of nonsmooth optimization to the tuning of fixed-structure gain-scheduled controllers. The gain schedule is tuned over the entire operating range subject to standard frequency-domain requirements at each design point. The result is a smooth, compact scheduling formula that can be either implemented directly or turned into a lookup table. The effectiveness of this approach is illustrated on a gain-scheduled three-loop autopilot for the pitch axis of an airframe.