FLEXIBLE GAIN SCHEDULER

A gain scheduler for PID controllers is discussed, which combines the simplicity of a rigid gain scheduler with continuous updating of contr oller parameters, specific to adaptive systems. The algorithm distingu ishes the ranges of a linear process like a rigid scheduler and, addit ionally, assumes nonlinear process behavior in some proximity of the r ange limits. The algorithm applies fuzzy interpolation in the bands of process nonlinearity. In the implementation, available features inclu de disabling fuzzy control while preserving a hysteresis between range s.