Gain-scheduled control based on linear parameter-varying (LPV) models derived from local linearizations is a widespread nonlinear technique for tracking time-varying setpoints. Recently, a nonlinear control scheme based on Control Contraction Metrics (CCMs) has been developed to track arbitrary admissible trajectories. This paper presents a comparison study of these two approaches. We show that the CCM based approach is an extended gain-scheduled control scheme which achieves global reference-independent stability and performance through an exact control realization which integrates a series of local LPV controllers on a particular path between the current and reference states.
@article{arxiv.1905.01811,
title = {A Comparison of LPV Gain Scheduling and Control Contraction Metrics for Nonlinear Control},
author = {Ruigang Wang and Roland Tóth and Ian R. Manchester},
journal= {arXiv preprint arXiv:1905.01811},
year = {2020}
}