Scheduled controller synthesis via Lyapunov matrices that depend on the filtered scheduling parameter

Gain-scheduling is a practical control method for plants with nonlinearities and/or time-varying dynamics. This paper proposes synthesis of gain-scheduled controllers by using Lyapunov matrix that depends on the filtered scheduling parameter. This avoids the drawback of the conventional gain-scheduled controller formulation that requires differentiation of the scheduling parameter and provides a concrete guarantee of virtually the same level of performance as of those conventional controllers.