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The use of active magnetic bearings (AMB) is increasing in high-speed applications, because their low friction operation allows higher rotational speeds than the traditional bearings. The inherent instability and complexity of the AMB rotor system with high nonlinearities pose challenges to the controller design. This leads to a problem of robust design. Robustness of LQG and loop-shaping H∞ controllers...
Underwater vehicles present a difficult control-system design due to their nonlinear dynamics, uncertain models, and the presence of disturbances that are difficult to measure or estimate. A multivariable design based on backstepping jointly with a simple optimization algorithm, that minimizes the energy consumption, is able to carry out the control of this system taking into account the uncertainties...
This paper proposes a robust model predictive control (MPC) scheme to asymptotically stabilize an uncertain linear plant with polytopic model uncertainty description. Quadratic robust stability constraints are explicitly imposed as contractive constraints on the predicted state at each sampling time. The feasibility of these constraints can be detected either off-line or at the first step of on-line...
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