Multi-model H∞ loop shaping controller for nonlinear system based on gap metric

This paper introduces a multi-model controller design method for nonlinear system. First reasonable operating points for nonlinear system are selected and corresponding multiple linear models can be obtained based on gap metric theory. An H-infinity loop shaping controller is designed for each local linear model. And then all local controllers are combined to form a complete control system using a membership function to create a transition region between different operating points. Finally, an example shows that the designed control system has good performance and robust stability for nonlinear system.