Practice-oriented controller design of a simple nonlinear system

Abstract

The paper analyses and illustrates the design of a constrained gain scheduling for a simple non-linear hydraulic system based on automatic-reset controller. The main objective is to explain the basics of gain-scheduling control in a simple way so that it can be understood by computer programmers working in the field of automatic control. The study is based on small deviations from the selected operating points that allow the use of linear design methods. In contrast to linearization-based design methods, where the control action is calculated by integrating small control increments, the new control output is obtained by adding the calculated small increments to the operating point values. Another innovative aspect is the introduction of a gain-scheduled automatic-reset controller. This is the oldest and the simplest control solution including a disturbance observer based on ultra-local models and accurate even in steady-states.