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In this paper we consider the problem of driving to zero by means of state feedback the state of a nonlinear plant when only an approximate model of the plant is known and the information about its state is sampled. To this aim, we develop a specific model based control scheme and, under suitable hypotheses, we give a sufficient condition, in terms of length of the sampling interval and of other design...
Stabilization for a collection of feedback linearizable systems with uncertain parameter is dealt with in this paper. Necessary and sufficient conditions for a quadratic control Lyapunov function to be a common control Lyapunov function for these systems are obtained. A continuous state feedback control is designed based on the common control Lyapunov function. It can simultaneously stabilize these...
If we approximate distributed parameter heat exchanger systems as bilinear systems, the systems often contain not only product terms of the state variables and the input flow rates but also product terms of the state variables and the disturbance flow rates. In almost bilinear systems investigated so far, disturbances were applied to the systems linearly. Therefore we cannot apply such controllers...
In this paper, we deal with the backstepping control design of the two-wheeled inverted-pendulum-type autonomous robot, the e-nuvo-wheel, made in ZMP Inc.. First, we derive a second-order motion equation of the angle and design an adaptive integral backstepping controller to stabilize the angle in the manner of the modeling in. This controller requires the full-state measurements. In the output feedback...
This paper presents a neural network based direct adaptive control scheme for a class of affine nonlinear systems which are exactly input-output linearizable by nonlinear state feedback. When the system dynamics are completely unknown, the control input comprises two terms. One is an adaptive feedback linearization term and the other one is a sliding mode term. The neural networks weight update laws...
We consider a single-input single-output (SISO) nonlinear system which has a well defined normal form with asymptotically stable zero dynamics. We allow the system's equation to depend on bounded uncertain parameters which do not change the relative degree. Our goal is to design an output feedback controller which regulates the output to a constant reference in the presence of constant unkown input...
In this paper, the state feedback decoupling control for bilinear systems is discussed. The sufficient condition for the existence of decoupling controller and the design procedure are given. A real world example, the headbox control of a paper machine, demonstrates the efficiency of the proposed method.
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