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In recent years competition in the industrial world has become intense. As a result, the necessity for highly effective control techniques has increased. Furthermore, simple control structure and high robustness are also desirable. To meet these demands, model-driven type control theories type have been proposed. If these controllers are able to describe the model of the process accurately, then perfect...
Existing reachability theory and optimal control theory are applied to a class of nonlinear systems with ellipsoidal initial reachability sets, reflecting information typically provided by industry-standard optimal estimation methods. Analytical expressions for position-and velocity-extrema are developed, yielding necessary conditions for reachability as well as tools for significant reduction in...
This work proposes a robust control framework to address the problem of practical tracking for a class of nonlinear systems described as hybrid automata. The framework reposes both on a suitable definition of the references to be tracked and on input-to-state stability properties of the feedback laws in order to guarantee a desired behavior of the hybrid automata in terms of robust transition between...
We present an algorithm for an event based approach to the global optimal control of nonlinear systems with coarsely quantized state measurement. The quantized measurements induce regions of the state space and the events represent the change of the system's state from one quantization region to another. We investigate the theoretical properties of the approach and illustrate the performance by a...
In this paper, iterative learning control (ILC) is applied to network-based control problems in which communication channels are subject to random transport delay and data dropout. An averaging ILC algorithm is used to overcome the random factors. Through analysis, it is shown that ILC can perform well and achieve asymptotical convergence in ensemble average along the iteration axis, as far as the...
Time-delay is a widespread phenomenon of control system. Time-delay characteristics have a serious impact on system stability and performance. It is valuable to study iterative learning control of time-delay system. In this paper, we study the effects of multiple time delay on the convergence of nonlinear time-delay systems applying ??-norm and a set of inequalities. It will be shown that time-delay...
In this paper, a PD-type sampled-data iterative learning control algorithm is proposed for a class of nonlinear systems with time delays and uncertain disturbances, including random input disturbance and random output measurement noise. By introducing Taloy' s norm, a rigorous proof is given for the convergence at each sampling point. A sufficient condition is derived to ensure that the real output...
We study the solution properties of a family of inverted pendulum systems driven by odd periodic forcing. Using the Schauder fixed point theorem, we show that the inverted pendulum with an odd periodic driving acceleration at the pivot always possesses an odd periodic solution. Fundamental to the production of good estimates is the development of a Green's function for an unstable harmonic oscillator...
This paper studies the global robust output regulation problem for a class of output feedback systems subject to an uncertain exosystem by using output feedback control. An adaptive control technique is used to handle the unknown parameter vector in the exosystem. It is shown that this unknown parameter vector can be exactly estimated asymptotically if the controller incorporates a minimal internal...
In this paper, we propose a new iterative learning control (ILC) scheme, which is devoted to dealing with unknown parameters that are both time varying and iteration varying. In particular, we consider iteration-varying parameters that are generated by a second-order internal model. By incorporating the internal model into the parametric learning law, the ILC scheme can handle more generic nonlinear...
An observed nonlinear dynamics is observable if the mapping from initial condition to output trajectory is one to one. The standard tool for checking observability is the observability rank condition but this only gives a yes or no answer. It does not measure how observable or unobservable the system is. Moreover it requires the ability to differentiate the dynamics and the observations. We introduce...
The presented work addresses the observation problem for a large class of nonlinear systems, including systems which are nonlinear in the unmeasured states. Assuming partial state measurements, the unmeasured states are reconstructed so that a prediction of the measured states converges to a neighborhood of the actual measurements. This prediction-based observer algorithm relies on carefully selected...
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...
In this paper, we study the discrete-time nonlinear consensus protocols over both directed and undirected networks with fixed topology. First, the notions of (global/exponential) semistability are introduced for systems with a continuum of equilibria. In terms of (global/exponential) consensus defined based on the notion of semistability, we have derived convergence conditions for the general discrete-time...
This paper deals with realization theory of so-called Nash systems, i.e. nonlinear systems the right-hand side of which is defined by Nash functions. A Nash function is a semi-algebraic analytic function. The class of Nash systems is an extension of the class of polynomial and rational systems and it is a subclass of analytic nonlinear systems. Nash systems occur in many applications, including systems...
In this paper we extend the work of robust trajectory tracking by guaranteeing hard error bounds for nonlinear systems with matched disturbances. A recently developed algorithm is extended in order to prove in case of bounded matched uncertainties maximum error bounds and furthermore to calculate them a priori. Additionally we discuss the specific problem of actuator uncertainties. It will be shown...
In order to solve the slightly complicated structure and the big calculation of integral variable universe adaptive fuzzy controller, as well as the difficulty to choose the contraction-expansion factor, a weighted sum-type variable universe adaptive fuzzy controller is designed. At the same time the general method on how to choose contraction-expansion factor is given. First, based on weighted sum...
In this paper we propose a new methodology of estimation of nonlinear systems subject to unknown hard-input nonlinearities. Using the fact that the dead-zone input nonlinearity can be modelled as a line input function with a bounded disturbance term then, by appropriate selection of the system input, we show that the simultaneous estimation of the dead-zone parameters with the unmeasured system states...
The maim idea proposed in this paper is integrating sliding mode control (SMC) theory and cerebellar model articulation controller (CMAC) neural network into fuzzy controller design and the fuzzy control rules can be determined systematically by the sliding condition of the SMC. The advantages of using fuzzy model into CMAC are to improve function approximation accuracy in terms of the weighting coefficients...
A new iterative learning control algorithm based on homotopy extension for nonlinear systems is presented. Homotopy extension methods are introduced in iterative learning control problem. The iterative process based on homotopy extension methods and Newton methods is derived. A new algorithm is proposed to wide the range of convergence. Sufficient conditions for the convergence of new algorithm are...
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