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Velocity-based (VB) multiple model networks have the advantage of allowing the capture of the dynamics of non-linear systems when compared to conventional multiple model networks, for they build a direct relationship between the non-linear system and the VB linearisation. To have the best use of modelled dynamic information for the controller design, this paper proposes a novel controller design approach, which associates an integral action with state feedback in local controller design. It overcomes the difficulty in the implementation of the velocity-based approach, which normally involves deducing the differential signal. It holds continuity with linear control theory in the analysis of the overall system and brings the potential to automatically design a controller with guaranteed performance and stability.
Gao. Ruiyao and O'Dwyer, Aidan : State feedback integral control by velocity-based multiple model networks. Proceedings of the American Control Conference, pp. 2039-2044, Boston, USA.