Leith, D. J. and Leithead, W.E.
Gain-Scheduled Controller Design: An Analytic Framework Directly Incorporating Non-Equilibrium Plant Dynamics.
International Journal of Control, 70.
In this paper, a velocity-based linearisation framework is employed to develop a novel rigorous
approach to gain-scheduling design. The proposed approach enables knowledge concerning the plant
dynamics at non-equilibrium operating points to be incorporated directly into the controller design.
Since the velocity-based linearisation framework supports the analysis of the transient response,
performance considerations can be accommodated. The approach retains continuity with linear
methods, which is central to the existing conventional gain-scheduling methodology, and, since a single
type of linearisation is employed throughout, the design procedure is both straightforward and
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