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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 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...
Unwanted coupling between linear dynamical systems can cause instability even when each system is individually stable. In this paper, we demonstrate how to design a disturbance accommodating controller to automatically cancel the unwanted coupling and to allow each system to behave as if the coupling didn't exist. This approach can be effective even when little is known about the ldquophysicsrdquo...
This paper addresses the design of H2 gain scheduled observer based controllers for rational linear parameter varying systems (LPV). Such systems are equivalently recast as affine descriptor LPV systems. The stability of the closed loop is proved and the H2 performance is ensured thanks to a Youla parameter optimization. A numerical example is presented to illustrate the efficiency of the method.
Sliding Observers were suggested in the previous literature as an alternative and interesting technique for state estimation for uncertain nonlinear systems. Even though previous results guaranteed robust convergence properties, some of the underlining assumptions were verified to be too conservative for some application. This study explores the properties of a specialized sliding observer for uncertain...
A decentralized indirect adaptive control scheme that may be applied to both interconnected and overlapping interconnected systems is presented. With the presented scheme indirect adaptive controllers are applied at each control station of a multi-control-station system. The adaptive controller at a given control station is designed for the subsystems connected to that station, and the controlled...
The robustness of adaptive observers whose order is less than that of the plant is addressed. It is shown that residuals (unmodeled states) with finite energy over a finite time interval, together with a definitely exciting plant input, are sufficient to insure ultimate boundedness of the parameter and state errors, regardless of the plant stability or input boundedness.
The certainty equivalence principle is used to combine a robust adaptive law with a control structure derived from the linear quadratic (LQ) control problem. The resulting adaptive control scheme is applicable to minimum and non-minimum phase continuous-time plants and is robust with respect to unmodeled dynamics and bounded disturbances. The computational complexity of the continuous-time adaptive...
This paper provides a further theoretical analysis of an entirely new approach to the problem of loop transfer recovery (LTR). This approach is to minimize the observer gain to the system input by observer pole selection. This paper proves that this new approach aims directly at achieving the necessary and sufficient condition of LTR. This paper also proves that this approach guarantees the observer...
A new constructive procedure for the design of a decentralized observation scheme for large-scale interconnected systems is presented. The design procedure is based on a stability result that employs the notion of block diagonal dominance in matrices. The obtained algorithm is shown to considerably improve upon the existing results for the decentralized observer design problem. A major contribution...
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