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A framework for the joint design of online sensor scheduling and fault detection is proposed. First, the synthesis of fault detection filter under any event triggering mechanism is given. The proposed filter can be viewed as a special structure of the Bayesian filter. To demonstrate its performance, this filter is tested under mixed event triggering mechanism designed to satisfy control requirements...
Many electrical machines are nowadays controlled using digital controllers resulting in variable-speed drives. To enhance control engineers want to deal with the switching behaviour of the power converters or pulse-width modulation in more detail. To help them, in this paper, a previously proposed enhanced discrete-time model in the z-domain is applied to machine drives. Additionally, the application...
This paper presents an algorithm, based on the alternating direction method of multipliers, for the convex optimal control problem arising in input-constrained model predictive control. We develop an efficient implementation of the algorithm for the extended linear quadratic control problem (LQCP) with input and input-rate limits. The algorithm alternates between solving an extended LQCP and a highly...
This paper presents several results on performance analysis for a class of uncertain linear quantum systems subject to either quadratic or non-quadratic perturbations in the system Hamiltonian. Also, coherent guaranteed cost controllers are designed for the uncertain quantum systems to achieve improved control performance. The coherent controller is realized by adding a control Hamiltonian to the...
An infinite horizon H∞ control problem for singularly perturbed linear systems with multiple point-wise and distributed small state delays is considered. This problem is solved by its asymptotic slow-fast decomposition yielding two much simpler parameter-free H∞ control problems, the slow and fast ones. Each of these two problems is solved by the Riccati Matrix Inequality/Equation method. A solution...
We present normal forms for nonlinear control-affine systems that are the closest to static feedback linearizable ones, that is, for systems that become feedback linearizable via the simplest dynamic feedback, namely one-fold prolongation of a suitably chosen control. We also show that the dynamic feedback may create singularities in the control space depending on the state and we discuss them. We...
This paper presents a control method for handling a coupling effect between the liquid level and pH of the process with multi-titrated concentrations, which an outflow and titrating streams are manipulated inputs. A feedback controller formulated by using input/state (I/S) linearization and optimization technique is used to calculate control actions and estimate process disturbances. A logic of acid/base...
This paper is concerned with the design of H∞ observers for linear time-invariant descriptor systems. The goal is to design a dynamical observer such that the resulting dynamic estimation error is stable while the transfer function from the disturbance to this error satisfies a prescribed H∞ norm level. Sufficient conditions for the existence and stability of these observer are given. A numerical...
Lifting as geometric operation can be defined as a pseudo-inverse of orthogonal projection. It has received attention in different fields and applications (mechanics, geometry, control, etc). Numerous studies have been dedicated to the existence conditions of a convex lifting in a higher dimension for a given cell complex. It is worth noting that this notion can be extended for a polyhedral partition...
The aim of this paper is to show the existence of a local solution to the output tracking problem for uncertain linear systems in which the output reference signal is periodic with known period. An output-feedback adaptive learning control is designed which relies on the Fourier approximation theory and on two adaptive observers. It guarantees, under suitable conditions, exponential output tracking...
This paper is devoted to computation of flat outputs by means of the Goursat normal form of the Pfaffian system associated to any control system in state space form. The algorithm explained here consists in three steps: i) Transformation of the system into its Pfaffian equivalent. ii) Computation of the Goursat normal form for the Pfaffian system. iii) Rewriting of the state space equations in the...
Establishing whether a two-side matrix polynomial is definite over unitary complex numbers is an important problem in modeling, analysis and design of control systems. This paper addresses this problem for univariate and bivariate two-side matrix polynomials, i.e., matrix functions that are polynomial in the variables and their inverse. Sufficient and necessary conditions are proposed in terms of...
This paper proposes to control a class of nonlinear systems described by the discrete-time nonlinear ARX models with unknown parameters depending on the input and output. A set of adaptive controllers are designed based on the variable structure control for the discrete-time ARX models locally identified around given levels of input and output. The proper adaptive controller is chosen among the set...
This paper introduces the predictive vector field controller (PVF). This controller is designed for controlling nonlinear systems with constraints in order to follow artificial vector fields whose integral curves converge to and circulate about a desired path. This is achieved by predicting the state of the system at some future time horizon using a finite set of system inputs by uniformly sampling...
This paper presents master-slave stochastic multi-parameters divergence optimization (SMDO) method for tuning of fractional order proportional-integral-derivative (FOPID) controllers. Bode's ideal control loop (BICL) is used as a reference model that guides the optimization process. Master-slave SMDO performs optimization of FOPID and BICL parameters together. In the first stage called as locking,...
Based on the analysis of relative orbit dynamics for GEO (geostationary orbit, GEO) satellite and LQG (Linear Quadratic Gaussian, LQG) algorithm, this paper proposed a station-keeping control method for GEO satellite, which realized north-south station-keeping and west-east station-keeping simultaneously. To further verify the effectiveness of the proposed method, corresponding mathematical simulation...
The fractional-order Hammerstein system is a cascading system composed of a static nonlinearity followed by a fractional-order linear dynamics, which is a typical nonlinear system satisfying the local Lipschitz condition, and exhibits quasi-linear properties. This paper combines the fractional-order iterative learning control (FOILC) and the fractional-order iterative learning identification (FOILI),...
The problem of balancing an inverted pendulum on an unmanned aerial vehicle (UAV) has been achieved using linear and nonlinear control approaches. However, to the best of our knowledge, this problem has not been solved using learning methods. On the other hand, the classical inverted pendulum is a common benchmark problem to evaluate learning techniques. In this paper we demonstrate a novel solution...
In this paper, a method of combining modified space vector control (SVPWM) and sinusoidal pulse width modulation (SPWM) control has been proposed for the three-phase permanent magnet synchronous motor (PMSM). This method solves the problem of the torque ripple when the motor starts running and the hardness to control zero axis component when use SVPWM control method. The proposed method uses SPWM...
The paper proposes an approach to the construction of Lyapunov functions, which based on the geometric interpretation of a theorem on asymptotic stability and method of construction control systems with increased potential for robust stability for objects with uncertain parameters in the form of three-parameter structurally stable maps of catastrophe theory. Vector components of antigradient of Lyapunov...
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