Control design and gain-scheduling using observer-based structures

we present the procedure to compute the observer-based realization of a given controller and a given model. The application of this procedure to a very simple missile model is proposed in the third section to illustrate the interest of observer-based controller for gain-scheduling, controller switching and state monitoring. In section four, the Cross Standard Form is presented and also applied to the same academic example: a low-order controller is improved to fulfill a template on its frequency-domain response. The extension of theses results to the discrete-time case are gathered in section five. In section six, Cross Standard Form and gain scheduling using observer-based realizations are applied to the control design for a launch vehicle on the full atmospheric flight envelope. Concluding remarks and future works are proposed in the last section