A software environment for gain scheduled controller design

Theoretical developments have improved the understanding of gain scheduled control and suggested new methods for design, analysis, and implementation of such nonlinear control systems. An integrated software environment for gain scheduled local controller network design and analysis, including computer-aided modeling and system identification, is described. Some background theory is included, and a speed control design problem for an experimental vehicle-a Mercedes-Benz truck called OTTO-illustrates the application of the approach.