Gain-scheduled control for substructure properties

In many control problems, the plant consists not only of the controlled system but also of the environment which the system inhabits. While the dynamics of the controlled system are normally well characterized at the time of controller design, the environment´s dynamics are often not completely known at this time. This paper introduces a novel approach called a posteriori gain scheduling for addressing this class of control problems and evaluates the suitability of linear parameter varying (LPV) and D-K iteration design methods for a posteriori gain scheduling by applying them to a benchmark problem. The LPV design method modified for time-invariant parameters exhibits performance close to H_∞ optimal designs