State feedback integral control by velocity-based multiple model networks

Velocity-based (VB) multiple model networks have advantage of capturing dynamics of nonlinear systems comparing with conventional multiple model networks, for they build a direct relationship between the nonlinear system and the VB linearisation. To have the best use of modelled dynamic information for the controller design, this paper proposes a novel controller design approach, which associates an integral action with state feedback in local controller design. It overcomes the difficulty in the implementation of the velocity-based approach, which normally involves deducing the differential signal. It holds continuity with linear control theory in the analysis of the overall system and brings the potential to automatically design a controller with guaranteed performance and stability.