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This paper presents a design of multi-objective controller for a two input two output interacting Coupled Tank System (CTS) and its real time implementation. The multi-objective control has been achieved by satisfying time domain objective like pole placement and frequency domain objective like H-infinity condition. This multi-objective control has been formulated using Linear Matrix Inequality (LMI)...
The robust H-infinity controller design is investigated in this paper for a class of nonlinear singular systems with state and transmission delays. The proposed controller is configured in multiple feedback loops. Based on the interval type-2 T-S fuzzy modelling and parallel distributed compensation techniques, a fuzzy multiple feedback-loop controller with memoryless state and delayed states is proposed...
This paper is concerned with the robust discrete-time control for uncertain time-delay systems with nonlinearities and external noises. The parameter uncertainties enter into all the system matrices. The time-varying delay is unknown with given lower and upper bounds. The stochastic nonlinearities are described by satisfying a class of α Hölder condition. The problem addressed is the analysis and...
This paper addresses the problem of robust control for a class of nonlinear dynamical systems in the continuous time domain. We deal with nonlinear models described by differential algebraic equations (DAEs) in the presence of bounded uncertainties. The full model of the control system under consideration is completed by linear sampling-type outputs. Main contribution of present manuscript is the...
We study design problem of dynamic PID control, which means PID control of velocity-type, for linear MIMO systems. First, dynamic output feedback control is investigated to stabilize the MIMO systems via LMI technique. Then, it is extended to the multivariable PID control to stabilize the closed-loop system. We can attain stabilizing PID gain matrices by solving a simple LMI solvability problem not...
This paper proposes a robust fault detection method based on interval observer design. This method offers the advantage of being robust against disturbances, measurement noises, uncertain parameters and unknown inputs. The optimization framework is used to reduce the conservatism of the interval-based approach. The design of the observer parameters is formulated using the Linear Matrix Inequality...
This paper is concerned with the guaranteed cost filtering problem for discrete-time multi-layer neural networks with unideal measurements and time-varying delays. First, the innovative state space model of multi-layer neural networks can be described by the weighted-nonlinear function, which means that there have connections among neural layers. Then, the unideal measurements are made up by combination...
This paper presents a yaw control problem for ship steering using a complex fourth order Nomoto model. A linear matrix iinequality (LMI) based H robust control to deal with poles on imaginary axis is applied to solve the yaw control problem for ship steering. The model uncertainty of ship steering problem is tackled using μ-synthesis control approach. The tracking ability and robust stability of H...
This paper is concerned with output feedback control design for a discrete-time Takagi-Sugeno fuzzy system where the premise variable is not necessarily measurable. The Takagi-Sugeno fuzzy system generally describes nonlinear systems by employing local linear system representations, and a fuzzy system to be considered in this paper describes even a wider class of nonlinear systems. For a fuzzy system,...
This paper analyzes the robust control problems for a class of uncertain Takagi-Sugeno (T-S) fuzzy systems with time varying delays. T-S fuzzy models are employed to represent uncertain delayed nonlinear systems. A Parallel Distributed Compensation (PDC) control law, including both memoryless and delayed state feedback, is considered for stabilization purpose. Based on the choice of a convenient Lyapunov-Krasovskii...
In this paper, the problem on robust H∞ control for 6-DOF spacecraft formation flying in the presence of parameter uncertainties and external disturbances is addressed. Firstly, the model of coupled translation and rotation motion of spacecraft formation is established. Subsequently, a robust H∞ controller is proposed, which is constructed by the solution to the Hamilton-Jacobi-Inequality (HJI). It...
This work proposes a new approach to cope with robust stabilization of uncertain linear systems. Differently from the traditional methods in the literature, that employ slack and scalar variables to provide more relaxed conditions than the ones based on quadratic stabilization, a new strategy is proposed to iteratively search for the robust gain directly on the decision parameter space (no change...
In this paper, a sufficient delay-dependent condition for the stabilization of overlapping linear continuous-time uncertain systems with multiple delays by robust overlapping output feedback controllers is given. The overlapping system is first expanded into a higher dimensional system (expanded system) where the overlapping subsystems appear as disjointed from each other. Then, robust local delay-dependent...
In this paper, the problem of robust H∞ filter design for uncertain time-invariant discrete-time linear systems is addressed. The filter makes use of an arbitrary number of past output measurements. The filter stores the measurements in a buffer and is therefore of order higher than the system being filtered. The robust filtering design conditions are based on Lyapunov matrices with polynomial parameter...
In this paper, the computation of closed-form convex combinations is considered. In many control tasks, convex combinations play a crucial role, thus requiring an efficient computation. This is the case for online control of fast dynamical systems, in which the control algorithms rely on convex combinations, for example robust control of linear parameter-varying systems. On the other hand, for formal...
The paper has studied the problem of H∞ filtering for Markovian jump stochastic systems with uncertain transition probabilities. The systems under consideration not only involve uncertainties both in the system matrices and in the mode transition rate matrix, but also contain time-varying delays. By free-weighting matrix technique, a sufficient condition for the existence of an H∞ filter is developed...
In this paper we propose a new robust principal component analysis method to separate the background and foreground scenes in video surveillance. Our approach uses a random projection method called Bilateral Random Projections (BRP) in conjunction with a switching between random projection matrices and a singular value estimation technique to separate the background and moving objects. The proposed...
We revisit the issue of gain-scheduled versus robust control with a focus on matrix inequalities. It has been established that for uncertain continuous-time linear systems that depend affinely on the uncertainty, gain-scheduled stabilizability implies robust stabilizability. That is, as far as stabilizability is concerned, using a more complex gain-scheduled controller brings no advantage. In the...
An innovative solution for global non-quadratic observer design of nonlinear systems is presented in this report. Via an exact convex representation of the model in the Takagi-Sugeno form, an observer which employs the nonlinearities of the system as well as a discontinuous function of their time derivatives, is proposed. It is shown that such a structure, when combined with a non-quadratic Lyapunov...
The problem of robust fault detection (RFD) for discrete-time Markovian jump linear systems (MJLSs) with partly unknown transition probabilities is investigated in the paper. The RFD observer (RFDO) system and the dynamics of error generator are constructed. By introducing some free-weighting matrices, the proposed method leads to less conservatism compared with the existing ones. Moreover, the H∞...
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