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Incremental linear controllers network

The paper introduces the incremental linear controllers network (ILCN). This algorithm consists of a linear controllers network (LCN) and a progressive control design (PCD) algorithm. The LCN is a network of linear controllers each one being valid for a different operating region of the system. Such a control system can be used for the control of a possibly discontinuous nonlinear system; it is not affected by the "stability-plasticity dilemma" and yet can have a very clear architecture since it is composed of linear controllers. The PCD aims to resolve the clustering problem that faces any such multi-controller method. The PCD enables a very efficient construction of the network as well as an accurate determination of the region of validity of each controller. These features make clear the powerful control potential of the ILCN in the domain of nonlinear autonomous control.