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A chattering-free robust nonlinear controller is proposed for the speed control of an IPMSM drive system to compensate for the parameter uncertainties and load disturbances. First, the input-output feedback linearization technique is used with a load torque estimator. Next, the upper bounds of the uncertainties are defined in design of the chattering-free robust controller. After that, in order to...
A linear parameter varying approach for designing a constant output feedback controller for a linear time-invariant retarded system with stochastic multiplicative Wiener-type noise, that achieves a minimum bound on the H∞ performance level is introduced. The stochastic uncertainties appear in the dynamic matrices, which correspond to the delayed and non-delayed states of the system, and in the measurement...
The problem of adaptive robust stabilization is considered for a class of nonlinear systems with uncertainties which consist of uncertain system parameters and multiple external disturbances. It is supposed that the upper bounds of these uncertainties are unknown. In particular, different from the results reported in the control literature, in this paper the multiple external disturbances are assumed...
We study the interference channel with one-sided generalized feedback and secrecy requirements. In our model Message 1 which is known just to Encoder 1 should be decoded by both receivers. Message 2 - known only to Encoder 2 - should be decoded by Decoder 2 and kept as secret as possible from Decoder 1. The uncertainty of Decoder 1 about Message 2 is measured by means of the equivocation rate. In...
The problem of modeling and controlling resources in a system with interaction between hardware and software is considered. A model encompassing both hardware and software dynamics is developed together with an on-line estimation scheme in order reduce dependence on apriori information. A control structure is presented in order to control performance under constrained resource situations and to reduce...
An output-feedback direct adaptive control problem is considered for a class of linear time delayed measurements systems with polytopic-type parameter uncertainties and disturbances. The objective is to make the system output follow the output of a system model and to attain guaranteed H∞ performance of the proposed adaptive control scheme. The time-delay is either constant (known) or time-varying...
This paper is aimed at robust control of a Permanent magnet DC motor based actuator used in the control of the inlet swirl valve of a diesel engine. The actuator has uncertainty issues related to parameter identification and variation, and load disturbance. These issues lead to faults in controllers, resulting in poor performance and failure. The actuator has been modeled taking parameter uncertainties...
For the decentralized robust stabilization of the interconnected large-scale descriptor system with uncertain output coefficient matrix that is time invariant, value-bounded (the value bound relatively small), the paper, with the linear matrix inequality (LMI) theory and the infinitesimal theory, gives the sufficient conditions respectively for the robust stabilization of the output feedback of the...
We propose a new minimum uncertainty planning technique for mobile robots localizing with beacons. We model the system as a partially-observable Markov decision process and use a sampling-based method in the belief space (the space of posterior probability density functions over the state space) to find a belief-feedback policy. This approach allows us to analyze the evolution of the belief more accurately,...
This paper considers the problem of controlling both the planar position and the orientation of an underactuated airship with a reduced number of actuators in the presence of a unknown persistent wind disturbance. The airship is a nonholonomic system described by a set of nonlinear equations and the dynamics are subjected to bounded uncertainties. A smooth and time-varying coordinate transformation...
For a class of multi input and multi output nonlinear uncertain systems with input coupling term, a robust feedback linearization method combined with a minimax linear quadratic regulator (LQR) control is proposed. The uncertainties in the system and the presence of input terms in the low order derivatives of the outputs due to the input coupling makes the feedback linearization a challenging task...
Feedback control problems for distributed parameter systems arise in a variety of physical, chemical, biological, and mechanical systems. This paper exploits the algebraic structure of the system of ordinary differential equations that arise from spatial discretization of the partial differential equation (PDE) to analyze and design feedback controllers that are robust to bounded perturbations in...
In this paper, design and implementation of an intelligent disturbance weighting function for H∞-based precision positioning control system is presented for an AC motor drive X-Y table positioning mechanism. The system works with a robust feedback controlled, enhanced by an outer loop integral control. The objective is to achieve high tracking and contouring performances even in the presence of uncertainties...
Considering that the feedback gain is of additive norm-bounded uncertainties, based on linear matrix inequality (LMI), a design method of non-fragile guaranteed-cost controller for the networked control systems (NCS) with network-induced time delay is discussed in this paper. A sufficient condition of such controller is presented in LMI forms. The controller parameters can be obtained by solving the...
A novel industrial approach on application of μ-synthesis controller based on Quantitative Feedback Theory (QFT) tuning strategy for plate rolling Automatic Gauge Control (AGC) system is proposed in this paper. To the mill stiffness uncertainties and nonlinear parts, the dual-perturbation AGC model design is presented. The integration of optimal μ-synthesis and manual tuning in the QFT design environment...
This paper is concerned with the problem of robust l2-l∞ control for Networked Control systems. Dynamic feedback controller for Networked Control Systems with convex polyhedral uncertainties is given by the linear matrix inequality(LMI) method and cone complementary linear algorithm(CCLA). And the controller can guarantee a prescribed energy-to-peak disturbance attenuation level for all possible uncertainties...
In this work, a new combination form of high-order iterative learning control and feedback control is proposed to address the traffic density control problem in a macroscopic level freeway environment with ramp metering. Through adding feedback element and high order feedforward elements, the proposed approach can improve classical iterative learning control performance. The effectiveness of the new...
The problem of robust stabilization for a class of uncertain discrete-time switched systems via observer-based output feedback is investigated. Using multiple Lyapunov functions method and matrix inequality technique, the sufficient conditions of stabilizing the uncertain switched systems via observer-based switching and observer-based output feedback are derived. The parameterized characterizations...
To simplify the design and realization of controller, the method of robust H∞ static output feedback is discussed in this paper. A sufficient condition that satisfies given performance index is presented for constrained system, and an H∞ static output feedback control design method is proposed. By converting the constrained conditions and the elliptical set that contains output trajectory into a set...
The control accuracy of flexible satellite attitude would be impacted by the large scale changes of the dynamic parameters caused by the temperature and structural deformation, when flight in orbit. Considering the case of the existence of quality parameters uncertainty, flexible modal frequency uncertainty and external disturbance, the paper studies the flexible satellite attitude dynamics and the...
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