Design of gain-scheduling controller based on interpolation of loop shaping H/spl infin/ controller

In this paper, we propose a design method of gain-scheduling controller. We extend LSDP to gain-scheduling version. The controllers designed according to LSDP consist of a state observer and a regulator. The observer-gain and regulator-gain at each design point determine the control performance, and they are interpolated by polynomial. The gain-scheduling controller varies these gains according to the operating point. We apply the design method of gain-scheduling controller to a inverted pendulum and confirm the effectiveness of the proposed controller by some experiments