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A new approach to robust control design is considered. It is based on Implicit Lyapunov Function method. An algorithm of robust finite-time stabilization for a quasi-linear multi-input disturbed system is developed. A new high-order sliding mode control algorithm is deduced. Procedures for tuning of control parameters are presented. They are based on Linear Matrix Inequalities (LMI). Aspects of practical...
The output stabilization problem for a linear system with an unknown time-varying bounded input delay is considered. The interval observer technique is applied in order to obtain guaranteed interval estimates of the system state. The procedure of the interval observer design, which is based on resolving of the Sylvester's equation, is discussed. Interval predictor is introduced and applied for a linear...
The problem of interval state observer design is addressed for time-invariant discrete-time systems. Two solutions are proposed: the first one is based on a similarity transformation synthesis, which connects a constant matrix with its nonnegative representation ensuring the observation error positivity. The second contribution shows that in the discrete-time case the estimation error dynamics always...
The mechanism of entrainment to natural oscillations in a class of (bio)mechanical systems described by linear models is investigated. A nonlinear control strategy (based on the speed gradient control algorithm) is analyzed providing the system oscillation in resonance mode with a natural frequency. It ensures an energy-optimal entrainment performance robustly against perturbations in system parameters...
The goal of this technical note is to design interval observers for a class of nonlinear continuous-time systems. The first part of this work shows that it is usually possible to design an interval observer for linear systems by means of linear time-invariant changes of coordinates even if the system is not cooperative. This result is extended to a class of nonlinear systems using partial exact linearisations...
The paper deals with robust fault detection for nonlinear continuous-time systems based on a LPV transformation. The adaptive set observers technique is applied for joint state and parameter estimation in order to avoid the exponential complexity obstruction usually met in the set-membership nonlinear estimation. The obtained estimates on the sets of admissible values for the parameters and the state...
This paper deals with fault detection problem for nonlinear continuous-time systems transformed to a LPV form. Adaptive set observers techniques are applied for joint state and parameter estimation in order to avoid the exponential complexity obstruction usually met in set-membership nonlinear estimation. The obtained estimates on the sets of admissible values for the parameters and the state are...
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