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This paper analyzes the global stability of a dead-time compensator when considering a saturation in the control action and uncertainties in the estimation of the dead-time. The analysis is made using a first order plant with dead-time controlled by a Smith predictor plus a pi controller, that is, a scheme commonly used in the process industry. Using a frequency domain analysis the stability and the...
This paper presents the experimental results of the modelling, identification and control of an air conditioning system. The process has been decomposed in two subsystems connected in series with a natural feedback. It has been identified by the Model based method using Marquardt's algorithm. Due to the cascade structure of the system, the controller involves two levels. The first level (inner loop)...
This article gives a short description of the singular values assignment as a control design method for linear discrete-time systems. Moreover, a short comparison to the well-known eigenvalue assignment is presented, showing the advantages of the singular value assignment with respect to the avoidance of overshoots, robustness issues and the application to time-varying systems.
This paper is concerned with the computation of robust stability bounds for time-delay systems with nonlinear time-varying perturbations. Firstly, a delay-independent condition on the robust stability is presented and a method to determine the maximum upper bound of robust stability is given. Then, a delay-dependent robust stability condition is provided. All results are given in terms of LMIs where...
This paper considers the problem of determining the minimum euclidean distance of a point from a polynomial surface in Rn. It is well known that this problem is in general non-convex. The main purpose of the paper is to investigate to what extent Linear Matrix Inequality (LMI) techniques can be exploited for solving this problem. The first result of the paper shows that a lower bound to the global...
This paper is concerned with the use of active brake systems in order to decrease the rollover risk of heavy vehicles. Since the forward velocity of the vehicle changes in time, the combined yaw-roll dynamic model has a nonlinear structure. Selecting the forward velocity and the so-called normalized lateral load transfer at the rear side as scheduling parameters, a Linear Parameter Varying (LPV) model...
In this paper, the main goal is to design an approach that performs fault detection, isolation and estimation for a large class of nonlinear systems. Fault diagnosis is established by regarding system as a convex combination of linear time invariant (LTI) stochastic models and not as a single global model. The nonlinear representation is based on a bank of decoupled Kalman filters. This paper consists...
The robustness features versus unmatched uncertainties of a hybrid variable structure control strategy for a class of second order systems are analyzed in this paper. The hybrid control relies on a subdivision of the system state space into nested regions, and on an event-driven switching among the control laws associated with each region. By componing globally stabilizing variable structure laws,...
This paper introduces a formal definition of continuity and generalizes an existing notion of stability for node centrality measures in weighted graphs. It is shown that the frequently used measures of degree, closeness and eigenvector centrality are stable and continuous whereas betweenness centrality is neither. Numerical experiments in synthetic and real-world networks show that both stability...
This paper concerns the control of a camera, mounted on the end-effector of a robot manipulator, using a hybrid visual servoing scheme. Hybrid vision-based control consists in using information available directly at the image level jointly with the information reconstructed from two views of a rigid object (i.e. the displacement of the camera). The aim of this paper is to design a simple control law...
This paper addresses the problem of robust output feedback stabilization of a class of continuous-time linear switched systems. A Lyapunov approach is adopted to establish conditions under which the closed-loop system is robustly stable. A robust feedback design procedure is proposed that relies on the solution of a set of linear matrix inequalities.
This paper deals with the robust stability and robust stabilization problems for nonlinear systems with time-delay and norm bounded uncertainties which can be represented by Takagi-Sugeno (T-S) uncertain fuzzy model with time-delay. Based on fuzzy weighting-dependent Lyapunov-Krasovski functional approach and the free weighting matrix method, stability sufficient conditions are proposed and then extended...
A wheel slip controller for ABS brakes is formulated using an explicit constrained LQR design. The controller gain matrices are designed and scheduled on the vehicle speed based on local linearizations. A Lyapunov function for the nonlinear control system is dervied using the Riccati equation solution in order to prove stability and robustness with respect to uncertainty in the road/tyre friction...
In controller design, not only set-point tracking and disturbance rejection can be considered, also robustness towards process uncertainties is a key issue. In this paper, new robustness measures that divide uncertainties into dead time and non-dead time uncertainties, are presented. It is shown, to the contrary of classic measures such as phase/gain/dead time margins, to guarantee stability towards...
This paper contains a new proposed regarding on robust adaptive control method merge with Linear-Quadratic Regulator (LQR), to design a faster response controller for uncertain characterized three degree of freedom (3-DOF) flight control module. 3-DOF helicopter is a bench-top module use in laboratory for experimental purposes only. From the previous experiments, it has seen that the transient response...
Despite decades of advances in software engineering, operating systems (OSes) are still plagued by crashes due to software faults, calling for techniques to improve OS stability when faults occur. Evaluating such techniques requires a way to compare the stability of different OSes that is both representative of real faults and scales to the large code bases of modern OSes and a large (and statistically...
We develop a new model for traffic with on roads with multiple lanes but where the vehicles do not quite adhere to a lane discipline. To study the system the dynamics is split along two independent directions—the y-axis representing the direction of motion and and the x-axis representhe the lateral or the direction perpendicular to the direction of motion. Different influence graphs are used to model...
This paper deals with a new design method of a fractional PID controller. The proposed method is based on a numerical constrained Min-Max optimization algorithm. Its main objective is the improvement of the transient response, the stability margin, the robustness and the load disturbance rejection capability. All these performances are tested through a simulation example.
Two methods based on state observers applied to fault diagnosis are presented in this paper. These methods are based on analysis of error signals known as residuals, which are generated from the comparison between the actual system output and the estimated output. A comparative study about these two methods applied to a hydraulic liquid level system is presented in simulation.
Magnetic levitation systems are widely used in practice and especially as a research topic due to their nonlinear and unstable characteristics. In this paper, two rarely used control algorithms for unstable systems are proposed: a special type of a fractional order controller and an IMC (Internal Model Control) based controller. The two control algorithms are compared and tested on an experimental...
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