摘要：AbstractGain scheduling controller design scheme employing piecewise affine (PWA) model for nonlinear controlled plant is given in the paper. Recent result of (Ilka et al., 2016) is further developed for the presented PWA model based on identification in working points. The PWA model is structured in such a way which reduces computational complexity of the corresponding gain scheduling control design scheme. The proposed modelling and control approach is illustrated on a case study: drum boiler nonlinear simulation model presented as a benchmark example in (Morilla, 2012). The number and choice of working points and their influence on performance of the respective gain scheduling control loop is discussed as well.
