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In this paper the Η∞ control problem for descriptor systems is considered. This problem can efficiently be solved by specialization of a recent solution of the general quadratic performance control problem to the H∞ case. The solution is given in terms of strict linear matrix inequality (LMI) conditions. Contrary to previous solutions of the descriptor H∞ control problem, these synthesis conditions...
In this paper control of high index or even non-regular linear descriptor systems subject to general quadratic constraints is considered. This setup especially includes the H∞ control problem and the design for strict passivity. In a previous paper [9] this problem was addressed by a linearizing change of variables approach under a certain assumption on the structure of the algebraic equations within...
In this paper we propose a robust self-triggered model predictive control algorithm for linear systems with additive bounded disturbances and hard constraints on the inputs and state. In self-triggered control, at every sampling instant the time until the next sampling instant is computed online based on the current state of the system. The goal is to achieve a low average sampling rate, thereby minimizing...
Based on the assumption that the parameter can be measured in real time, we propose a model predictive control (MPC) method for linear-parameter varying (LPV) systems subject to possibly asymmetric constraints which adopts the analogous framework of terminal control law, terminal set and terminal penalty of nonlinear model predictive control. The optimization problem is formulated as a convex optimization...
This paper proposes a model predictive control scheme for a class of constrained nonlinear time-delay systems with guaranteed closed-loop asymptotic stability. Asymptotic stability of the closed-loop is guaranteed by utilizing an appropriate terminal cost functional and an appropriate terminal region. A novel structured procedure is derived to determine the terminal cost and the terminal region offline...
This paper presents an infinite horizon model predictive control (MPC) scheme for constrained linear parameter-varying systems. We assume that the time-varying parameter can be measured online and exploited for feedback. The proposed method is based on a parameter-dependent control law which is obtained via the repeated solution of a convex optimization problem involving linear matrix inequalities...
In this paper a new class of nonlinear feedbacks that guarantee input-to-state stability (ISS) w.r.t. the measurement error is identified. In particular, it is shown that (inverse) optimal feedback laws, that are separable into a globally Lipschitz part and a nonlinearity satisfying a certain inequality condition, guarantee ISS. As a consequence, those state feedbacks in conjunction with any globally...
This article presents an extended modeling approach for piezoelectric tube actuators combining finite element analysis (FEA) and model order reduction (MOR) techniques. The model includes the full coupling between motion in all axes, while the reduced model order, which depends mainly on the desired bandwidth and model accuracy, makes it a suitable basis for controller design purposes. Simulation...
This paper provides a novel solution to the problem of robust output feedback model predictive control of constrained, linear, discrete-time systems in the presence of additive but bounded state and output disturbances. The overall controller consists of two components, a stable state estimator and a tube based, robustly stabilizing model predictive controller. The proposed robust output-feedback...
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