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A design methodology for a compensator-based sliding mode controller using only output signals, for the simultaneous stabilisation of a finite collection of uncertain systems is proposed. The methodology is based on linear matrix inequality methods and the proposed controller belongs to the class of dynamic output feedback controllers. The developed approach allows both matched and mismatched uncertainties...
In this paper, robust adaptive output feedback control is studied for a class of discrete-time nonlinear systems in output-feedback form perturbed by a class of functional nonlinear uncertainties of Lipschitz type. To construct output feedback control, the system is transformed into the form of nonlinear-auto-regressive-moving-average (NARMA), a novel future output prediction is designed based on...
The purpose of this paper is a parametric description (parametrization) of static output feedback stabililizing controllers for linear continuous-time systems with Markovian switching. The results are then applied to simultaneous stabilization, robust stabilization and passification problems. Based on these results some algorithms for computing of stabilizing gains are proposed. The approach is based...
This paper investigates the design of static output feedback controllers for a class of uncertain stochastic systems with multiple decision makers. The necessary conditions, which are determined from Karush-Kuhn-Tucker (KKT) conditions, for the existence of a guaranteed cost controller have been derived on the basis of the solutions of cross-coupled stochastic algebraic Riccati equations (CSAREs)...
Previous inverse optimal adaptive controllers (IOACs) have been developed that can handle structured (i.e., linear in the parameters (LP)) uncertainty for a particular class of nonlinear systems. A full-state feedback IOAC is developed in the companion Part I paper for Euler-Lagrange systems with an uncertain time varying inertia matrix. In this paper, an output feedback IOAC is developed to asymptotically...
This paper considers linear time delay systems with bounded disturbances that are not necessarily matched. A static output feedback sliding mode controller is designed. The existence problem is solved by determining a sliding surface that minimizes the ultimate bound of the reduced-order dynamics in the presence of time varying delay and unmatched disturbances. Linear matrix inequalities (LMIs) are...
The non-fragile dynamic output feedback Hinfin controller design problem affected by finite word length (FWL) for linear discrete-time systems is investigated. The controller to be designed is assumed to be with additive gain variations, which reflect the FWL effects in controller implementation. A notion of structured vertex separator is proposed to approach this problem, and exploited to develop...
A new approach to solving a nonlinear robust Hinfin control problem using a stable nonlinear output feedback controller is presented in this paper. The particular class of nonlinear uncertain systems being considered is characterized in terms of integral quadratic constraints and global Lipschitz conditions describing the admissible uncertainty and nonlinearity, respectively. The nonlinear controller...
This paper is concerned with the output feedback guaranteed cost control problem for a class of uncertain stochastic large-scale systems governed by a random parameter. The uncertainties are assumed to satisfy integral quadratic constraints, and the random parameter is a Markov process. A sufficient condition is established for the design of decentralized output feedback guaranteed cost controllers...
This paper presents an extension of the L1 adaptive output feedback controller to multi-input multi-output (MIMO) systems in the presence of nonlinear time-varying uncertainties without restricting the rate of their variation. As compared to earlier results in this direction, a new piece-wise continuous adaptive law is introduced along with a low-pass filtered control signal that allows for achieving...
The development of a synthesis methodology to design compensator-based sliding mode output feedback controllers using linear matrix inequalities is considered in this paper. The class of dynamical system dealt with belongs to the class of uncertain plants with matched, and mismatched uncertainties in polytopic form. The efficacy of the proposed design methodology is demonstrated by a numerical design...
The new BMI based method for robust stabilizing PID controller design for linear uncertain system is proposed. The general constrained structure of controller matrix is considered which is appropriate both for output feedback and decentralized control. The developed control design scheme aims at robust stabilization with guaranteed cost. The extended quadratic performance index is used including the...
In this paper, an adaptive output feedback control strategy is presented to solve the stabilization problem of nonholonomic systems in chained form with strong nonlinear drifts and uncertain parameters using output signals only. The control law is developed using input-state scaling and backstepping techniques. The objective is to design adaptive nonlinear output feedback laws which can steer the...
In this paper, new sufficient dilated LMI conditions for the H2 static output feedback control problem of linear continuous-time systems are proposed. In order to reduce the conservatism existing in early standard LMI methods, auxiliary slack variables with structure are employed along with a similarity transformation. This result is also extended to linear systems with polytopic uncertainty. It is...
In this paper, we consider a receding horizon output feedback control of linear discrete-time systems with polyhedral model uncertainties and input/state constraints. A set of state feedback gains is derived first based on the periodic invariance so that the uncertain system is stabilized when the states are available and the state feedback gains are applied periodically. An LMI formulation is derived...
This paper deals with the problem of output feedback robustly passive control for parameter uncertain systems with time-varying delay. The parameter uncertainties are norm-bounded. We provide a dynamic output feedback controller that guarantees the closed-loop systems strongly robustly stable with strictly passive for all admissible uncertainties. Delay-dependent sufficient conditions for the existence...
This paper focuses on the large-scale stochastic nonlinear systems with bounded uncertainties in the strict-feedback form. The interconnections are bounded by strong nonlinear functions. The problem we address is to design a decentralized adaptive controller such that the closed-loop, large-scale, interconnected stochastic nonlinear system with bounded uncertainties is globally stable in probability...
This paper proposes a new class of infinitely many bounded output feedback controllers for uncertain dynamic systems with bounded uncertainties. No statistical information about the uncertainties is assumed. A variable structure systems approach is employed in the synthesis of the proposed output feedback controllers. The role of the system zeros in the output feedback stabilization using the variable...
A discrete-time feedback control-design problem involving parametric uncertainty is considered. A quadratic bound suggested by recent work on discrete-time state space H?? theory is utilized in conjunction with the guaranteed cost approach to guarantee robust stability with a robust performance bound.
Stabilization of uncertain dynamical systems, which admit a decomposition into two coupled subsystems (referred to as the reduced-order system and the residual system) is studied. A reduced-order output feedback strategy is described which, under particular hypotheses on the uncertainty, guarantees the existence of a calculable global uniform compact attractor (containing the state origin) for systems...
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