Leith, D. J. and Leithead, W.E.
Comments on ‘Gain Scheduling Dynamic Linear Controllers for a Nonlinear Plant’.
Lawrence & Rugh (1995), Kaminer et al. (1995)
propose that the realisation for a gain-scheduled controller
should be chosen to satisfy a local linear equivalence
condition. However, this provides an inadequate basis
selecting an appropriate realisation. Many realisations
satisfy the local linear equivalence condition yet are not
equivalent and can exhibit quite different dynamic
behaviour. Furthermore, the condition imposes restrictions
on the controller states and inputs which are not a priori
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