A simple method to develop interpolative controllers with robustness properties at step reference changes

The paper treats the problem of implementing a control structure with interpolative blocks, minimal from the structural point of view but in the mean time with robustness properties and capable to ensure adequate performances. To accomplish these statements a control structure with interpolative rule based controller is used. The controller has as input a synthetic measure of the command related to the phase-plane variables. The final interpolative solution is a flexible, easy to improve structure, with reduced calculus time, transparent during the design procedure, robust and without loss in performances. All the methodology is presented through a study case.