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This paper deals with Takagi-Sugeno (T-S) systems stabilization based on a static output feedback (SOF) non-PDC control law. To investigate SOF stabilization, the closed loop dynamics is written using a descriptor redundancy formulation. This approach allows avoiding appearance of crossing terms between the controller's and the T-S system's matrices. Thus, based on a fuzzy Lyapunov candidate function...
The paper studies semi-global practical input-to-state stability (SGP-ISS) of a parameterized family of discrete-time systems that may arise when an approximate discrete-time model of a sampled-data system with disturbances is used for controller design. It is shown under appropriate conditions that if the solutions of the time varying family of discrete-time systems with disturbances converge uniformly...
A Smith Predictor-like design for compensation of arbitrarily long input delays is available for general, controllable, possibly unstable LTI finite-dimensional systems. Such a design has not been proposed previously for problems where the plant is a PDE. We present a design and stability analysis for a prototype problem, where the plant is a reaction-diffusion (parabolic) PDE, with boundary control...
A functional differential inclusion-based approach to L2-gain analysis and feedback control problems is presented for a class of discontinuous time-delay systems. Motivated by Filippov solution in the differential equations with discontinuous right-hand side, definition of the discontinuous time-delay systems forced by external signals is introduced, and a description of L2-gain property in the sense...
Given the Hill's equation x??+(??+??p(t)t)x=0, where ?? and ?? are parameters and p(t) is periodic. The Arnold's tongues are the unstable regions in the ??-?? plane where the solutions of the Hill's equation are unbounded. We shall present some results about the reshaping of the Arnold's tongues varying p(t) by p??(t)=??(p(t)+??(t)) where the term ??f(t) acts as control parameter. We shall present...
New chattering-free feedback design for a class of perturbed nonlinear systems is presented. The idea is basically founded on uniting rational-power feedbacks with rational-type feedbacks that approximate the sign function. We show that the degree of smoothness of the applied controller depends essentially upon the number of the rational-power terms used in the expansion of the whole feedback. A detailed...
This paper addresses the problem of exponential stability for singular networked control system (NCS) with multiple-packet transmission and dynamical output feedback. The singular NCS with time-delay and data packet dropout is modeled as an asynchronous dynamical system (ADS) constrained by event rates. Based on the theory of ADS, Lyapunov stability theory and linear matrix inequality method, the...
The problem of compensation of input delays for unstable linear systems was solved in the late 1970s. The systems with simultaneous input and state delay have remained a challenge, although exponential stabilization has been solved for systems that are not exponentially unstable, such as chains of delayed integrators and systems in the dasiafeedforwardpsila form. We consider a specially selected example...
In this paper, a new approach to design a Fault-Tolerant Control (FTC) based on Linear Parameter Varying (LPV) Admissible Model Matching (AMM) is proposed. The suggested strategy is an active technique that requires the fault to be detected and estimated by the FDI scheme. Then, the controller is redesigned accordingly. In this work, faults are expressed as a change in the system dynamics (in particular,...
A globally stabilizing decentralized output-feedback controller is proposed for a general class of nonlinear interconnected large-scale systems. The subsystem interconnections and the dynamics of each subsystem feature both parametric and functional uncertainty. The controller design is based on a general high-gain scaling technique that utilizes arbitrary powers (instead of requiring successive powers)...
This paper considers the problem of controlling a group of microrobots that can move at different speeds but that must all move in the same direction. To simplify this problem, the movement direction is made a periodic function of time. Although the resulting control policy is suboptimal for an infinite-horizon quadratic cost, a bound is provided on how suboptimal it is. This bound is extended to...
Minimum phase systems are the only systems that allow (in disturbance-free unconstrained case) the achievement of perfect tracking in presence of arbitrary reference signals. The question is whether this still holds when the control input is subject to input saturation constraint. Surprisingly, most works on global output tracking in presence of input saturation focused on nonminimum phase systems...
Stabilization of unstable systems with actuator delay of substantial length and of completely unknown value is an important problem that has never been attempted. We present a Lyapunov-based adaptive control design that achieves global stability, without a requirement that the delay estimate be near the true delay value. We solve the problem by employing a framework where the actuator delay is represented...
This is a brief survey of a little known field of disturbance estimation and subsequent cancellation, a field with a long history and is still rather disorganized. Researchers and results are scattered over almost two centuries, across East and West: from Jean-Victor Poncelet's Principle of Invariance in 1829, to Jingqing Han's conception of Active Disturbance Rejection in 1995 and beyond. But the...
This paper presents the formulation of a Lyapunov function for an exponentially stable linear time-varying (LTV) system using a well-defined PD-spectrum and the associated PD-eigenvectors. It provides a bridge between the first and second methods of Lyapunov for stability assessment, and will find significant applications in the analysis and control law design for LTV systems and linearizable nonlinear...
In this paper, a decentralized overlapping static output feedback law is proposed to control a linear time-invariant (LTI) interconnected system. It is assumed that an overlapping information flow structure is given which determines which output measurements are available for any local control agent. Uncertain transmission delay is also considered in communication links among different subsystems...
This research aims to construct sliding mode control (SMC) system that decreases chattering in controlled object of discrete time system. In conventional SMC, chattering has been generated by turbulence's influencing the state, and repeating operation that jumps over switching hyperplane. Then, we thought about switching hyperplane that always moved according to the change in the state. The feature...
The stabilization of switched systems with switching mismatched controller is investigated in this paper. When the controller mismatches the switching law, the stabilization condition for switched system during both matching and mismatching period is investigated and an approach of designing stabilizing controller for switched systems based on average dwell time is proposed, and then the approach...
This paper treats the problem of an adaptive fuzzy control of continuous nonlinear systems which contain unknown constant parameters in their state space. These systems are represented by Takagi-Sugeno fuzzy model. The quadratic Lyapunov function is used in the stability analysis and the design of fuzzy controllers. A common symmetric positive definite Lyapunov matrix allows us to determine an update...
One of the approaches to sampled-data controller design for nonlinear continuous-time systems consists of obtaining an appropriate model and then proceeding to design a controller for the model. Hence, it is important to derive a good approximate sampled-data model because the exact sampled-data model for nonlinear systems is often unavailable to the controller designers. Recently, Yuz and Goodwin...
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