Gain-scheduling is a popular control technique to deal with nonlinear and time varying systems. The linear parameter-varying (LPV) system approach offers systematic tools to design gain-scheduled controllers. However, the implementation of these controllers might demand complex mathematical operations to be performed in real-time. This limits the hardware and the applications in which LPV controllers can be used. In this article, we analyze these limitations and propose a design methodology to reduce the implementation complexity of gain-scheduled LPV controllers. The methodology is illustrated with a nonlinear bicycle model used in electric vehicle control.

增益调度是一种流行的控制技术，用于处理非线性和时变系统。线性参数变化 (LPV) 系统方法为设计增益调度控制器提供了系统工具。然而，这些控制器的实现可能需要实时执行复杂的数学运算。这限制了可以使用 LPV 控制器的硬件和应用程序。在本文中，我们分析了这些限制并提出了一种设计方法来降低增益调度 LPV 控制器的实现复杂性。该方法以电动汽车控制中使用的非线性自行车模型进行说明。