Conclusions Very useful technique Linearization of nonlinear actuators Surge tank control Control over wide operating ranges Requires good models Easy to use when combined with auto- tuning Good operational experience . Issues to be considered Choice of scheduling variables Granularity of scheduling tables Interpolation umpless parameter changes Operator interfaces c K.J. Astrom and BWittenmarkConclusions • Very useful technique – Linearization of nonlinear actuators – Surge tank control – Control over wide operating ranges • Requires good models • Easy to use when combined with auto￾tuning • Good operational experience • Issues to be considered – Choice of scheduling variables – Granularity of scheduling tables – Interpolation – Bumpless parameter changes – Operator interfaces c K. J. Åström and B. Wittenmark 10