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Most systems using mechanical actuators are subject to discontinuous nonlinearities due to e.g. dry friction; also these nonlinearities are bounded since they account for position and/or rate limitations. All these aspects occur in flight control but not only and are usually accompanied by sliding modes. Time delay is another specific feature in such systems. The paper deals with theoretical aspects...
The stability of a feedback interconnection of a linear time invariant (LTI) system and a slope-restricted nonlinearity is revisited. Unlike the normal treatment of this problem, in which multipliers are explicitly chosen and then stability conditions checked, this paper derives existence conditions for a sub-class of these multipliers, namely those which are L1 bounded, stable, causal and of order...
This paper presents the L1 adaptive output feed-back controller for a class of uncertain nonlinear systems in the presence of time and state dependent unknown nonlinearities, and multiplicative unmodeled dynamics. The L1 adaptive controller ensures uniformly bounded transient and asymptotic tracking for system's both signals, input and output, simultaneously. The performance bounds can be systematically...
This paper concerns studying dissipativity of a system with supply rates that depend on one or more parameters. We show that suitable choice of supply rate turns out to make dissipativity equivalent to traditional gain/phase margin conditions for stability. Further, the well-known circle criterion corresponds to a different supply rate, and here optimizing the supply rate is nothing but finding the...
This paper establishes sufficient conditions for absolute stability of time-varying control systems. The proposed conditions extend in a simple way the classical Popov criterion to time-varying memoryless nonlinearities, using previous results of Kharitonov. They are expressed in terms of linear matrix inequalities (LMIs). A weaker frequency domain criterion is deduced, leading to a simple graphical...
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