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A methodology to improve the stability robustness of feedback control systems designed using direct eigenspace assignment techniques is presented. The method consists of considering the sensitivity of the minimum singular value of the return difference transfer matrix at the plant input to small changes in the desired closed-loop eigenvalues and the specified elements of the desired closed-loop eigenvectors...
A new control design method for distributed parameter systems is introduced in this paper. The key idea is to use the passivity theorem to analyze closed loop stability instead of the commonly used small gain theorem. An algorithm is presented for designing stabilizing finite dimensional controller for unstable infinite dimensional systems with bounded input and output operators. This class of controller...
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...
This paper presents the concept of loop-decoupling as a means of robust input- output decoupling of MIMO systems. A class of multivariable systems may be designed with sufficient stability robustness by imposing post-compensators in order to make the modified plants diagonal, then dynamic compensators could be found, as in conventional single-input-output design, for each decoupled loop in order to...
An asymptotic LQG design synthesis technique is described which explicitly includes a class of structured plant uncertainties by viewing plant parameter variations as an internal feedback loop. A direct structural relationship between this class of parameter uncertainties and the weighting matrices in the design of the LQG compensator is exploited by an asymptotic procedure in which either the regulator...
A Proximate Time-Optimal Servo (PTOS) is developed, along with conditions for its stability. An algorithm is proposed for adapting the PTOS (APTOS) to improve performance in the face of uncertain plant parameters. Under ideal conditions APTOS is shown to be uniformly asymptotically stable. Simulation results demonstrate the predicted performance.
This paper considers the problem of designing failure-accommodating controllers for large flexible spacecraft when there are sector-type nonlinearities in the loops. It is proved that an LQG-type controller can be made failure tolerant by inserting appropriate gains in the actuator paths and state estimator residual paths. For the state feedback case, when the actuators are saturating type, it is...
Control laws are often designed for linear time-varying processes by solving the algebraic Riccati equation for the optimum control law at each instant of time. Such designs may be called "adiabatic approximations". Although they are not optimum they can result in closed loop systems which perform well. The stability of systems designed using the adiabatic approximation can be assessed by...
For a special class of systems, a general formulation and stochastic stability analysis of a new nonlinear filter, called the modified gain extended Kalman filter (MGEKF), is presented. Used as an observer, it is globally exponentially convergent. In the stochastic environment a nominal nonrealizable filter algorithm is developed for which global stochastic stability is proven. With respect to this...
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