A Youla-Kucera approach to gain-scheduling with application to wind turbine control

Abstract—This paper addresses bumpless transfer between observer-based controllers with integral action in a gain-scheduling architecture with application to wind turbine con-trol. Two methods based on the Youla-Kucera parameterization are applied to achieve bumpless transfer between controllers having equal or different number of control signals and integrators while preserving stability guarantees. Both methods handle reference signals to the controllers. The scheduling variable is described by a continuous func-tion, and even in situations where a transfer between two con-trollers is only initiated but not finalized, stability is sustained and no bumps are introduced in the control signals. The gain-scheduling approaches are verified by simulation on a non-linear model of a wind turbine. I