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In this paper, robust adaptive output feedback control is studied for a class of discrete-time nonlinear systems in output-feedback form perturbed by a class of functional nonlinear uncertainties of Lipschitz type. To construct output feedback control, the system is transformed into the form of nonlinear-auto-regressive-moving-average (NARMA), a novel future output prediction is designed based on...
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...
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,...
This paper proposes extensions to a recent control Liapunov function (CLF) based method for designing dynamical systems with trajectories that converge to the zeros of a nonlinear vector function f . Specifically, the CLF design method is extended to the case when the Jacobian of the vector function can be decomposed into a known part and a partially known part, for which certain norm bounds are known...
In this paper, we develop two algorithms to robustify repetitive learning control (RLC), which deals with periodic tracking tasks for nonlinear dynamical systems with nonparametric uncertainties. The first robustification algorithm is to apply a projection operator to the control input signals directly. The second robustification algorithm is to add a damping term to the learning law. Both algorithms...
In this paper, a robust stabilization of the uncertain singularly perturbed system via a networked state feedback with the transmission time-delay is addressed. Taking its nominal system as a model plant, propagation unit and overall states chosen to overcome the difficulty of communication delay, the characterization of singular perturbation for the overall hybrid system is still preserved on each...
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...
This paper gives a new procedure for robustness analysis of linear time-invariant (LTI) systems whose state space coefficient matrices depend polynomially on multivariate uncertain parameters. By means of dual linear matrix inequalities (LMIs) that characterize performance of certain LTI systems, we firstly reduce these analysis problems into polynomial matrix inequality (PMI) problems. However, these...
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...
The paper addresses the problem of H?? model reduction for uncertain Markovian jump systems with time-varying delay and uncertain switching probabilities. The purpose is to find a low-order model which can be used to approximate the original system such that the error system has a prescribed H?? performance. A sufficient condition is obtained in the form of matrix inequality. The cone complementary...
In this article, a signal-compensation based approach is presented to the robust output regulation problem for a class of multi-input multi-output uncertain systems with uncertain exosystems. The use of equivalent disturbance attenuation techniques permits removal of a common restriction that the exosystem which generates the reference signals and/or the disturbance signals is accurately known. The...
This paper presents a method for generating optimal command profiles for linear time-invariant mechanical systems with model uncertainty. Command generation for such systems should satisfy multiple conditions and constraints such as initial and final conditions, actuator limits, and residual vibration suppression after the motion. We had previously proposed a novel command-generation method for relatively...
This paper deals with the robust H∞ filtering problem for discrete-time linear systems with polytopic uncertainties. Differently from existing results, we assume that not only the Lyapunov functions are parameter-dependent in the whole polytope domain, but also the filter is dependent of the parameters which belong to a polytope. Our results contain no constant matrix variable for the entire polytope...
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 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...
In this paper we present novel strategies to formulate and solve nonlinear robust optimal control problems for dynamic systems which are affine in the uncertainty. We suggest the definition of a constrained Lyapunov differential equation providing robustness interpretations with respect to L2-bounded disturbances in the context of inequality state constraints. This interpretation allows us to compute...
A recursive procedure is proposed to reduce a set of inequality constraints of high relative order to single constraints of relative order one for a class of uncertain, multi-input nonlinear systems. A modification of a nominal control signal on the newly constructed constraints guarantees robust constraint satisfaction. The resulting robust invariant controller is applied to the constrained flight...
The problem of delay-dependent robust passivity analysis and robust passification for uncertain Markovian jump linear systems (MJLs) with time-varying delay is discussed. The parameter uncertainties are time-varying but norm-bounded. Attention is focused on the design of passification controllers, which guarantee that the closed-loop MJLs is passive. By constructing a proper stochastic Lyapunov-Krasovskii...
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...
This paper illustrates how an adaptive model predictive controller for the class of hybrid systems affected by parametric uncertainties can be synthesized. Specifically, we investigate the case where the hybrid system is modeled as a piecewise affine (PWA) system where certain elements of the PWA state-update matrices are expressed as symbolic parameters with unknown, but bounded values. For such...
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