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We consider the use of linear state feedback control to achieve a non-overshooting step response, for right-invertible non-square multivariable systems. A method is given for designing a linear time-invariant state-feedback controller to asymptotically track a constant step reference with zero overshoot and arbitrarily small rise time, under some mild assumptions.
This paper deals with the robust iterative learning control (ILC) for time-delay systems (TDS) with both model and delay uncertainties. An ILC algorithm with anticipation in time is considered, and a frequency-domain approach to its design is presented. It shows that a necessary and sufficient convergence condition can be provided in terms of three design parameters: the lead time, the learning gain,...
Commonly, controllers for Linear Parameter- Varying (LPV) systems are designed in continuous-time using a Linear Fractional Representation (LFR) of the plant. However, the resulting controllers are implemented on digital hardware. Furthermore, discrete-time LPV synthesis approaches require a discrete-time model of the plant which is often derived from continuous-time first-principle models. Existing...
This paper develops significant new results on the design of iterative learning control (ILC) schemes based on treating the problem within the framework of the stability/control theory for linear repetitive processes. These processes propagate in two independent directions and arise in the modeling of a number of physical processes. The duration of information propagation in one of these two directions...
In this paper we present a gradient method to iteratively update local controllers of a distributed linear system driven by stochastic disturbances. The control objective is to minimize the sum of the variances of states and inputs in all nodes. We show that the gradients of this objective can be estimated distributively using data from a forward simulation of the system model and a backward simulation...
An adaptive control strategy is developed for spacecraft attitude tracking maneuvers, in the presence of structured uncertainty in the spacecraft inertia parameters. The proposed strategy incorporates a composite parameter update law, which guarantees global asymptotic stability of the overall closed-loop system. A stability analysis is performed using Lyapunov's direct method, in conjunction with...
An approach is given for designing feedback controllers for unit memory discrete repetitive processes subject to iteration-varying reference signals. Using a lifting technique and defining an iteration-domain complex frequency operator, the two-dimensional single-input, single-output plant is changed into a one-dimensional multivariable system. Then, an internal model principle is given that ensures...
In this paper, a new optimization based design method for stabilization of polynomial systems with input constraints is presented. The method utilizes the sum of squares decomposition of polynomials and results in a nonpolynomial control law fulfilling amplitude constraints of the input. Consideration of input rate constraints can be included by extending the optimization problem. The resulting sum...
A novel identification strategy is presented in this paper for piecewise linear (PWL) dynamical systems. The strategy is based on the use of the minimal control synthesis adaptive technique for PWL systems presented in. After stating the general identification problem, the convergence of the novel algorithm is proved analytically in the case where the plant is PWL and the reference model is linear...
This paper is concerned with simultaneous H∞ stabilization with a fixed-order constraint on the controllers for multi-input/multi-output (MIMO) plants. By virtue of a new closed-loop stability and H∞ performance characterization, a novel necessary and sufficient condition for the existence of desired controllers is established in terms of a set of nonlinear matrix inequalities, which possess a monotonic...
In this paper a 2D systems setting is used to develop new results on iterative learning control for linear plants in the case when there are multiple reference signals. The algorithms for control law design are developed using a strong form of stability for discrete linear repetitive processes known as stability along the pass. The resulting design computations are in terms of linear matrix inequalities...
In this article a methodology for the design of the sliding surface and controller gain for standard sliding modes in the presence of fast actuators is presented. The technique of invariant ellipsoid and linear matrix inequalities (LMI) are used to solve the problem.
In this paper, the design of adaptive controllers is presented for a class of periodically time-varying nonlinear systems. Saturated adaptation mechanisms are suggested for providing bounded estimation, by which the designed controllers can drive the state error to zero, while all the signals in the closed-loop are ensured to be bounded. The flexibility in choice of adaptation laws is illustrated...
According to some shortcomings of simple genetic algorithms on prematurity and slower convergence, the paper carried through optimizing designment on simple genetic algorithms. At first, it proposed an adaptive selection operation: ultra expectation -comparation selection, adaptive crossover and mutation operation with double coordination; Then the paper proved its capability and rate of convergence...
The repetitive control has been widely used in grid connected voltage source converters, such as uninterruptible power supplies (UPS), photovoltaic inverter (PV) and active power filter (APF). This paper introduces a new repetitive control strategy in the APF system; the proposed control strategy has a forgetting factor (FF), which could improve control system robustness. Control system stability...
This paper presents a smart approach for digital control forward type multiple-output dc-dc converter. In this case, the central problem of design is how to decide the integral coefficient. Since the decision of integral coefficient depends on the static characteristics, the selected integral coefficient is not suitable to perform the superior dynamic characteristics. Then, it is important to set...
This paper addresses the problem of coordinated path following of multiple wheeled mobile robots while keeping a desired formation. The control laws proposed are categorized into two envelopes, one is steering individual robots to trace along predefined paths, and the other is ensuring tracked paths to be well defined in the formation, by means of decentralized speed adaption.Within this framework,...
This paper provides an overview on the Artificial Fish Swarm Algorithm (AFSA) for the automated design and optimization of fuzzy logic controller. A new optimization method for fuzzy logic controller design is proposed. The membership functions of input and output variables are defined by six parameters, which are adjusted to maximize the performance of the controller by using AFSA. This method can...
This work presents an anti-windup control methodology to deal with the stabilization of nonlinear time-delay systems which are represented by Takagi-Sugeno (T-S) fuzzy models. The generic output feedback controller with anti-windup term is synthesized against the effect of actuator saturation. Based on delay-independent Lyapunov-Krasovskii functional analysis, a region of attraction that ensures convergence...
According to trajectory tracking of robot, a method of a terminal sliding model controller based on genetic algorithms is presented. By using genetic algorithm to select the optimum parameters of fast terminal sliding mode, the system state variables are guaranteed to reach the sliding mode manifold quickly and stay on it all the time in finite time, and then the trajectory tracking control is realized...
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