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This paper presents the design of a nonlinear reduced order observer to estimate the load position and speed of an elastic drive system. The reduced order observer is designed using the notion of invariant manifold. First, a manifold is defined in terms of the error dynamics. Then, the mapping functions are selected in such a way that the error dynamics become asymptotically stable at the equilibrium...
The global asymptotic stabilization problem by output feedback is proposed for a class of nonlinear systems which have uncertain control coefficients and unmeasured states dependent growth. Firstly, by introducing a novel state transformation, the original system is transformed into a new system without uncertain control coefficients. Then, a suitable observer is applied and an output feedback controller...
This paper investigates the observer-based H∞ control problem for networked control systems (NCSs) with random packet dropouts. A general model with multiple independent stochastic variables in multiple channels case is adopted to describe the data missing in the limited communication channels. With the consideration of the sensor-to-controller and controller-to-actuator packet dropouts at the same...
This paper proposes a design method of controllers which ensure internal stability and attain asymptotically H∞ disturbance attenuation. The design procedure developed in this paper consists of two steps: 1) design an H∞ state feedback control via an algebraic Riccati equation approach; 2) under a certain minimum phase condition, recover the achievable performance asymptotically by applying high-gain...
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