1. A method of generating linear models for a physical system of interest, the method comprising the steps of: determining offline, a set of linear models for the physical system of interest by linearization of a nonlinear model of the physical system of interest at selected operating points or from desired data; analyzing offline, accuracy of each linear model and eliminating inaccurate linear models therefrom to provide a residual set of linear models; optionally generating offline, linear models corresponding to grid points of one or more rectangular lookup tables based on the residual set of linear models; associating offline, lookup table grid points or residual set of linear models with selected scheduling variables; and generating offline, algorithmic software for the physical system therefrom such that linear models for the physical system generated offline form the basis for online scheduling of linear models.