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The method is proposed for state observer structural optimization, which is based on the procedure of similarity transformation for control object model. The transforming matrix in this case is formed by the variation of singular numbers of controllability and observability gramians. The method allows us to form the structure of state observer with optimal balance of controllability and observability,...
Robust human face recognition is one of the most important open tasks in computer vision. This study deals with a challenging subproblem of face recognition: the aim of the paper is to give a precise estimation for the 3D head pose. The main contribution of this study is a novel non-rigid Structure from Motion (SfM) algorithm which utilizes the fact that the human face is quasi-symmetric. The input...
In the subspace approximation problem, we seek a k-dimensional subspace F of Rd that minimizes the sum of p-th powers of Euclidean distances to a given set of n points a1, an ε Rd, for p ≥ 1. More generally than minimizing Σi dist(ai, F)p, we may wish to minimize Σi M(dist(ai, F)) for some loss function M(), for example, M-Estimators, which...
There are many technical applications, such as communication, where one needs to generate a chaotic mode. This work proposes a method of generation of robust chaos in the invariant center manifolds. It consists of central manifold theory combined with the polynomial chaos approach and symmetry theory.
A local tester for a code probabilistically views a small set of coordinates of a given word and based on this local view accepts code words with probability one while rejecting words far from the code with constant probability. A local tester for a code is said to be "robust" if the local views of the tester are far from acceptable views when the word being tested is far from the code....
Artefacts that are present in images taken from a moving rolling shutter camera degrade the accuracy of absolute pose estimation. To alleviate this problem, we introduce an addition linear velocity in the camera projection matrix to approximate the motion of the rolling shutter camera. In particular, we derive a minimal solution using the Gröbner Basis that solves for the absolute pose as well as...
This paper addresses the problem of establishing robust stability in the mean square sense of uncertain discrete-time networked control systems over fading channels for all admissible uncertainties. It is supposed that the plant is connected to the controller in closed-loop via a fading channel which is modeled through noise processes in multiplicative form. The uncertainty is constrained into a convex...
The problems of robust stabilization and robust ℋ∞ control by means of state feedback for uncertain linear systems in polytopic domains are investigated in this paper. New synthesis conditions based on LMI relaxations and search of scalar variables are proposed for both continuous and discrete-time systems. The main novelty comes from the fact that the closed-loop stability is certified by means of...
Multiple interconnected tanks supplied by more than one pump is a MIMO process which is quite common for industrial applications. Presently, Internal Model Control (IMC) technique is widely used in controlling industrial MIMO processes due to its sole tuning parameter. But, as the IMC technique is entirely based on the process model hence in case of any uncertainty in modeling, nonlinear interacting...
We formulate a method for designing dynamic average consensus estimators with optimal worst-case asymptotic convergence rate over a large set of undirected graphs. The estimators achieve average consensus for constant inputs and are robust to both initialization errors and changes in network topology. The structure of a general class of polynomial linear protocols is characterized and used to find...
Analytic methods to quantify power systems stability margins while acknowledging uncertainty will be critical in dynamic security assessment due to the integration of renewable resources and uncontrollable loads. Lyapunov's direct method provides a mathematical framework to assess stability margins. However, analytical construction of Lyapunov functions are limited to very restrictive settings and...
A problem of inner convex approximation of a stability domain is addressed in the paper for continuous-time linear control systems. A constructive procedure for generating stable cones of polynomials is provided. The main idea is based on the construction of so-called Routh rays (stable half-lines) starting from a given stable point. These lines serve as edges for the corresponding polyhedral Routh...
The paper presents the novel online tool for robust PID controller design RobCont that enables to design robust PID controllers and to analyze the stability of the closed-loop control performance in an advanced way. This tool is an extension of modular system WebPIDDESIGN, a complex framework that provides features of system identification, PID controller design, and evaluation of control quality...
This paper proposes a high performance deadbeat-type current controller for inverter-interfaced distributed generation (DG), with a simple design procedure, desirable control performance and ease of digital implementation. The control law of proposed deadbeat-type current controller has the same form as the conventional deadbeat controller. However, instead of directly inverting the controlled plant...
Among the many parameters of human life, which are subject to intensive monitoring, one can specify the frequency of of respiratory action. The measurement of such physical quantity can be performed directly by tracking the activity of the respiratory organs, as well as indirectly through the breathing frequency estimation based on the ECG signal. This paper presents a method to assess the respiratory...
This paper investigates polynomial remainder codes with non-pairwise coprime moduli. We first propose a robust reconstruction for polynomials from erroneous residues when the degrees of all residue errors are small, namely robust Chinese Remainder Theorem (CRT) for polynomials. It basically says that a polynomial can be reconstructed from erroneous residues such that the degree of the reconstruction...
This paper proposes polynomial robust RST control for the regulation of the blood pressure in post cardiac surgery patients. Results using Reinforcement Learning is also presented. Clinical applications require simple and effective controllers. This study's focus is to show that polynomial robust RST control is suitable for the blood pressure regulation in post cardiac surgery patients. A realistic...
In this paper a recursive algorithm for robustly stabilizing an uncertain gained controlled polynomial with affine linear coefficients, is presented. The finite step algorithm is constructed using the results of Hurwitz invariability and the respective results of simulated annealing tuning techniques. The algorithm is appropriately modified expanding the search horizon of previous algorithms aiming...
The problem of resolving the fine details of a signal from its coarse scale measurements or, as it is commonly referred to in the literature, the super-resolution problem arises naturally in engineering and physics in a variety of settings. We suggest a unified convex optimization approach for super-resolution. The key is the construction of an interpolating polynomial in the measurements space based...
This paper proposes a numerical control strategy for the automatic control of the blood pressure in post cardiac surgery patients. The model used presents itself as a system with distributed parameters (SDP). Motivated by the need for simple and effective controllers for clinical applications, this study's main claim is showing that the proposed solution, a robust polynomial R-S-T controller solution,...
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