Kpσ =k 0 +k 1 σ+k 2 σ^2.After tuning, this parametric gain might have a profile such as the following (the specific
shape of the curve depends on the tuned coefficient values and range of σ):
Or, suppose that σ consists of two scheduling variables, α and V. Then, you can model
Kp(σ) as a bilinear function of α and V:
Kpα,V =k 0 +k 1 α+k 2 V+k 3 αV.After tuning, this parametric gain might have a profile such as the following. Here too,
the specific shape of the curve depends on the tuned coefficient values and ranges of σ
values:
Parameterize Gain Schedules