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The paper considers a general approach for linear parameter varying (LPV) control. The approach is based on polytopic representation of the LPV system. First, a grid point based control design is applied for a set of linearized models of the LPV system. The design is based on linear time invariant (LTI) techniques. Such control design allows a larger flexibility in the controller structure than the...
In this paper the control problem of a nonlinear chemical reactor using a free offset state feedback controller using linear matrix inequalities (LMI) is presented. The performance of the control system is verified throughout the operating range by numerical simulations. A performance comparison between the control system with a controller adjusted based on a nominal model and other with a robust...
In the paper we prove sufficient conditions for some two-dimensional operator to be a diffeomorphism between the space of absolutely continuous functions of two variables and the space of square integrable functions. This means that 2D system defined by the operator is stable and robust.
This work presents a cost-effective low-rank technique for designing robust adaptive beamforming (RAB) algorithms. The proposed technique is based on low-rank modelling of the mismatch and exploitation of the cross-correlation between the received data and the output of the beamformer. We construct a linear system of equations which computes the steering vector mismatch based on prior information...
We consider the design of self-triggered controllers for Lipschitz nonlinear systems subject to additive disturbances. The goal of the controller design is to avoid measurements and input changes as long as possible, while guaranteeing good performance subject to the worst case disturbances. Furthermore, the controller should be practically implementable. The controller is based on the emulation of...
In this article, the case is considered where a regulated output of an uncertain system with unknown disturbance input is constrained to lie between two specified time-varying bounds. It is supposed a controller has already been designed using any desired technique. This controller may not satisfy expected output constraints. The objective is to design saturations on the control signal so that the...
In this paper, a new framework to deal with the robust regulation problem of Markovian jump linear systems subject to uncertainties in the transition probability matrices is proposed. It is developed based on penalty functions and robust regularized least-square problems. The optimal solution is given in terms of recursive Riccati equations. A numerical example is used to illustrate the effectiveness...
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...
This paper presents algorithms for computing lower and upper bounds on the distance to the nearest unobservable switched linear time-invariant (SLTI) system. In particular a SLTI system subject to real perturbations, an unknown switching sequence, unknown initial state, and no continuous control input is examined. The perturbations considered are additive real structured perturbations to the A- and...
The paper considers the analysis of the worst-case input/output gain of an interconnection of a known linear parameter varying system and a perturbation. The input/output behavior of the perturbation is described by an integral quadratic constraint (IQC). Recent results have shown that under certain technical conditions IQCs can be formulated as a finite horizon time domain constraint. The worst-case...
This paper is concerned with the problem of robust full-order ℋ∞ filter design for uncertain discrete-time linear systems. The uncertainties are supposed to be time-invariant and to belong to a polytopic domain. The main novelty is the fact that the filter contains an arbitrary number of past states and past system output measures, yielding a filtering system with memory. Linear matrix inequality...
This paper presents a simple nonlinear anti-windup strategy for use in conjunction with a novel type of adaptive robust controller. In the absence of saturation constraints, the adaptive robust controller can provide highly effective disturbance rejection, but this ability is gradually lost as the saturation level is increased. In order to improve the performance of the controller during saturated...
This work deals with disturbance decoupling in discrete-time switching linear systems. The structural decoupling problem — i.e., the mere problem of making the output insensitive to undesired inputs — is discussed first. Then, a zero-input state-stability requirement is taken into account. Quadratic stability under arbitrary switching is considered. On the one hand, this leads to a convex procedure...
The paper considers a general approach for gain scheduling of Lipschitz continuous nonlinear systems. The approach is based on a linear parameter varying system (LPV) representation of the nonlinear dynamics along with integral quadratic constraints (IQC) to account for the linearization errors. Past results have shown that Jacobian linearization leads to hidden coupling terms in the controlled system...
In this paper, an online robust adaptive quadratic tracking control algorithm is proposed for continuous-time linear systems with unknown dynamics and nonlinear dynamic uncertainties. The robust stability and suboptimality of the closed-loop system composed of the considered system and the quadratic tracking policy is proved. For finding the solution of the linear quadratic tracking (LQT) problem...
We present conditions for robust stability of a class of linear systems interconnected by uncertain nonlinear, norm-bounded functions. We show that such conditions can be reformulated as classical small gain like conditions for a related linear system. Under further assumptions that render the related linear system positive, we show that we can achieve sharp tractable conditions for robust stability...
This paper discusses robust iterative learning control (ILC) analysis and synthesis problems that account for model uncertainty in the lifted system representation. In the robust analysis, we transform the robust monotonic convergence condition with unstructured uncertainty into an equivalent convex problem. In this framework, for a given learning gain Q, the design of the learning gain L that maximizes...
This paper provides synthesis conditions of robust state feedback control law for continuous-time linear time-invariant systems with polytopic uncertainty. By conveniently expressing the Lyapunov stability condition of the closed-loop system and using the elimination lemma, a new LMI synthesis condition with scalar searches is proposed. As main novelty, the scalar search is constrained to the interval...
In this paper we present a robust self-triggered model predictive control (MPC) scheme for discrete-time linear time-invariant systems subject to input and state constraints and additive disturbances. In self-triggered model predictive control, at every sampling instant an optimization problem based on the current state of the system is solved in order to determine the input applied to the system...
A critical step in the control design of industrial processes is the Control Configuration Selection (CCS), where each actuator is grouped with a set of measurements to be used in the computation of its control action.
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