Analytic framework for blended multiple model systems using linear local models

In this paper it is shown that the dynamics of a conventional type of blended multiple model system are only weakly related to the local models from which it is formed. A novel class of velocity-based blended multiple model systems is proposed for which the dynamics are directly related to the local models. Indeed, the solution to the blended multiple model system, locally to a specific operating point, is approximated by the weighted linear combination of the solutions to the local models. Moreover, in contrast to conventional blended multiple model systems, the velocity-based blended multiple model systems employs linear local models, thereby providing a degree of continuity with established linear methods and, consequently, facilitating analysis and design.