Process Control: Modeling, Design, and Simulation

11.5. Controller Parameter (Gain) Scheduling

Perhaps the most widely mentioned technique for controlling nonlinear processes is gain scheduling. Let α represent the scheduling variable, which will often be the measured output, y. A gain-scheduled PID controller is then represented by

Equation 11.16

Notice that the primary difference between this algorithm and the nonlinear PID controllers of the previous section is that α is a general scheduling variable, whereas the controllers in the previous section were based on error as the scheduling variable. Although all of the controller parameters can be scheduled, controller gain is commonly scheduled ...