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In this paper, we develop a theory of computable types suitable for the study of control systems. The theory uses type-two effectivity as the underlying computational model, but we quickly develop a type system which can be manipulated abstractly, but for which all allowable operations are guaranteed to be computable. We apply the theory to the study of hybrid systems, reachability analysis, and control...
Neo-robust control is a new theory proposed by the authors, which utilizes both the gain and the phase information of uncertainty in robust control design. In this paper, we extend the idea of neo-robust control to a class of uncertain systems with factorized uncertainty. This class of systems is good at describing the uncertainties arising in process control systems. Conditions on robust stability,...
When designing robust controllers, H∞ synthesis is a common tool to use. The controllers that result from these algorithms are typically of very high order, which complicates implementation. However, if a constraint on the maximum order of the controller is set, that is lower than the order of the (augmented) system, the problem becomes nonconvex and it is relatively hard to solve. These problems...
The problem of designing H?? dynamic output-feedback controllers for polytopic Delta operator systems is considered. Given a transfer function matrix of a system with polytopic uncertainty, an appropriate, not necessarily minimal, state-space model of the system is described which permits reconstruction of all its states. To this model, a new polynomial parameter-dependent approach to state-feedback...
A robust and high precision control system has been designed in MATLAB for a prototype DC motor system running at high rpm with uncertainty in plant parameters and in the presence of plant disturbances and measurement errors. The controllers have been designed using variety of approaches PID, LQG, and LSDP. Each of these design in MATLAB meet rise time, settling time and peak percent overshoot as...
This paper is focused on the problem of uncertain process control by using RMPC (robust model predictive control). A relevant class of RMPC algorithms is the one characterized by the use of the LMI framework. This field started in the middle of nineties and since then several works applying LMIs in the context of RMPC have been proposed. Most of them assume a polytopic representation of the process...
In this paper, we propose an explicit formula for bounded continuous feedback laws taking values in the interval U := [-r-, r+] that renders an affine system globally asymptotically stable. The case of bounded positive feedback controls (r- = 0) is also included. Additionally, the problem of designing a marginally robust control function is addressed.
The complex dynamics that characterize hydraulic systems make it difficult for the control design to achieve prescribed goals in an efficient manner. In this paper, we present the design and analysis of a robust nonlinear controller for a nonlinear hydraulic-mechanical (NHM) system. The system consists of an electrohydraulic servo valve and two hydraulic cylinders. Specifically, by considering a part...
In this paper, we enhance the quality of our preceding results on periodically time-varying memory state-feedback controller (PTVMSFC) synthesis for discrete-time linear periodic/time-invariant systems. We firstly revisit PTVMSFC synthesis for certain systems and derive a necessary and sufficient LMI condition for the existence of the desired H??-PTVMSFCs. Based on these LMIs, we next consider robust...
This note considers the popular anti-windup design problem for linear systems with saturating actuators. The main contribution of this paper is providing the synthesis LMIs to obtain the gains of the dynamic anti-windup compensator in a structure that delays the activation of the anti-windup. The basic idea is to apply Anti-Windup when the performance of saturated system faces substantial degradation...
This paper addresses disturbance suppression problem for uncertain plant systems using prior disturbance data which contain some measurement errors. We tackle optimal control input design problem using Model Predictive Control (MPC) scheme in which a priori measured disturbance data are exploited. We show that if the uncertainties of the plant systems are expressed by bounded but time-invariant uncertain...
We propose an underactuated mechanical system named inverted pendulum on a cart beam system. The proposed system has three degrees-of-freedom and one control input. The mathematical model is derived using Lagrangian method and the stabilization is achieved with constraints using a linear controller designed based on linear matrix inequality approach. Simulation results are presented to validate the...
This paper addresses the robust stability and stabilization of continuous-time linear systems with Markov jump parameters taking values in a finite set. It is shown how each of the robust analysis and synthesis problems can be expressed in terms of two alternative linear matrix inequalities, in which the scaling parameters appear as decision variables. As a by-product, new contributions to the theory...
The output-feedback control problem for nonlinear systems with state and input delays is addressed. Both state and input delays are allowed to be time-varying and uncertain. The class of systems considered consists of a nominal system of feedforward form as well as appended dynamics. A delay-independent robust adaptive feedback is designed based on our recent results on dual dynamic high-gain scaling...
In this paper, a new scheme inspired by the idea of decentralized control methodology is proposed to design output feedback controllers for a class of MIMO nonlinear systems with input unmodeled dynamics. With dynamic normalization and backstepping approach, the destabilizing effects of unmodeled dynamics depending on inputs are compensated and global uniform boundedness of all the signals in the...
Output-based feedback control of LPV systems is an important problem, as in practice it is rarely the case that the full state variable is available for feedback. In this paper we consider this problem in the case of discrete-time LPV systems for which the parameters are not exactly known, but only available with a finite accuracy or affected by noise during their measurement. The controllers are...
In this paper we present an application of a recently developed strategy for robust distributed controller design for formations and show a way of including performance requirements in the design. The proposed synthesis method guarantees stability for all possible formations and arbitrary fast changes in the communication topology. The number of agents in the formation can also be chosen arbitrarily...
The symmetric control systems have some interesting properties. This paper studies a class of symmetric system consists of a collocated second-order plant and a static output feedback controller. For the system, it is known that the internal stability and the robustness of the closed-loop system are guaranteed based only on the non-parametric structure condition. Our objective is to propose an optimal...
This paper presents an adaptive controller design method for a class of system with modeling uncertainties or environment disturbance. The controller has a paralleled structure of Dynamic Matrix Control and PID Control. The weight for each of the controller can be adaptively tuned through iteratively learning. It can make full use of the model information, meanwhile resisting disturbance and overcoming...
A new global terminal backsteping controller with virtual actuator is proposed for a class of high-supersonic uncertain missiles. On each step, we assume there exists a virtual actuator with a time parameter, limit energy and limit velocity just like a actual actuator. The virtual actuator concept can make the desired value can be easily traced by the next step of the backstepping design. At last,...
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