A method of generating linear models for a physical system of interest is implemented in steps including, first, determining offline, a set of linear models for the physical system of interest by linearization of a nonlinear computational model of the physical system of interest at selected operating points or from desired data; second, analyzing offline, accuracy of each linear model and eliminating inaccurate linear models therefrom to provide a residual set of linear models; third, generating offline, linear models corresponding to grid points of one or more lookup tables based on the residual set of linear models; fourth, associating offline, lookup table grid points with selected scheduling variables, and fifth, generating 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.