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This paper presents a solution to a robust optimal regulation problem for a nonlinear polynomial system affected by parametric and matched uncertainties, which is based only on partial state information. The parameters describing the dynamics of the nonlinear polynomial plant depend on a vector of unknown parameters, which belongs to a finite parametric set, and the application of a certain control...
The disturbance observer (DOB)-based controller has been widely applied to real applications since it is able to recover, in spite of plant uncertainties and input disturbances, the performance of the nominal system. In this paper, we study robust stability of the DOB control system when the relative degree of the plant P is greater than or equal to that of nominal model Pn. Based on the standing...
This paper deals with the problem of finding a polytopic outer approximation P* of a compact semialgebraic set S ⊆ ℝn. The computed polytope turns out to be an approximation of the linear hull of the set S. The evaluation of P* is reduced to the solution of a sequence of robust optimization problems with nonconvex functional, which are efficiently solved by means of convex relaxation techniques. Properties...
This paper deals with the output stabilization of linear systems with unknown parameters and sinusoidal disturbance. The approach is based on a hybrid algorithm of frequency estimation, that is used for compensation of the harmonic disturbance, and the high-gain feedback principle for robust stabilization. Efficiency of the approach is demonstrated through numerical simulations.
The differentiation by integration method with Jacobi polynomials was originally introduced by Mboup, Join and Fliess [22], [23]. This paper generalizes this method from the integer order to the fractional order for estimating the fractional order derivatives of noisy signals. The proposed fractional order differentiator is deduced from the Jacobi orthogonal polynomial filter and the Riemann-Liouville...
This paper presents an efficient algorithm for robust network reconstruction of Linear Time-Invariant (LTI) systems in the presence of noise, estimation errors and unmodelled nonlinearities. The method here builds on previous work [1] on robust reconstruction to provide a practical implementation with polynomial computational complexity. Following the same experimental protocol, the algorithm obtains...
In this paper we consider the problem of tracking reference signals modeled by splines on the output of an uncertain linear system. The problem is cast in the hybrid output regulation setting. We show that any spline-based signal can be generated as the output of a linear hybrid exosystem that experiences jumps regularly over time. Then, we design a hybrid internal model-based regulator able to guarantee...
This paper addresses robust discrete-time consensus problem of multiple agents with uncertain structure, where the network coupling weights are supposed polynomial functions of an uncertain vector constrained in a semialgebraic set. Based on the Lyapunov stability theory, a necessary and sufficient condition for robust discrete-time consensus is proposed. Then, we investigate the robust discrete-time...
The paper considers a problem of robust control system synthesis based on the modified algorithm of Coefficient Diagram Method (CDM) with robustness index optimization. The proposed solution is expected to enable improvement of system robustness against parametric uncertainty. As a measure of assessment an aim function (robustness index) defined for the system with an additional filter block is introduced...
A min-max re-formulation of the robust parameter design problem was introduced in [S. Mukhopadhyay and D. Chakraborty, "A computational algorithm for selecting robust designs in safety and quality critical processes," Sankhya B, 73, May 2011]. This formulation poses a computationally challenging problem: that of finding the min-max value of a polynomial in several variables. It has been...
This paper presents a highly robust approach to exactly analyze signal probabilities of Weighted Random Logic (WRL) BIST structures. WRL BIST structures are implemented in modern CMOS designs to ensure high defect coverage for example during on-line in-system tests, which are executed periodically in safety applications as needed in automotive designs. Furthermore the paper describes a novel design...
A lot of linear system controller design approaches allowing realization a reasonable structure and parameters choice to provide some specified requirements to system performance are developed. Among all the known methods coefficient methods allow to obtain approximate but rather simple correlations, which link quality indices of unconditioned order control system with desired controller parameters...
Object motion description in videos is one of the most active research topics in pattern recognition and computer vision. In this paper we study and compare Krawtchouk, Tchebytchev and Zernike spatial-temporal moments for volumes description. Indeed, reconstruction process of sequences volumes is elaborated to select the best moment descriptor for spatial-temporal volumes. Structural and temporal...
In order to employ powerful tools in signal processing to analyze symbolic sequences, a mapping is commonly applied first to transform the symbolic sequences to numerical sequences. Therefore it is important to investigate the role of the mapping in the final analysis results. The concepts of mapping equivalence and related theory have been proposed previously for the case where the data is processed...
A robust nonlinear controller is developed for the formation flying system. Using a nonlinear model directly, the Polynomial Eigenstructure Assignment approach is applied to complete controller design. The resulting controller can produce a closed-loop system with invariant performance over a wide range of conditions. Taking two sources of uncertainty, the robust D-stability is assessed by using the...
New LMI conditions are present to analyze the stability of polynomial matrices and polynomial matrix polytopes in an intersecting region D. During the analysis, the intersecting region D is described by disjoint regions and the problem to analyze the stability of polynomial matrices and polytopes in intersection D is transformed to analyze the stability in each disjoint D-region respectively. With...
Guaranteed cost control of polynomial fuzzy time-delay systems is investigated via a sum of squares (SOS) approach in this paper Based on polynomial Lyapunov-Kraovskii functional, guaranteed cost controller and robust guaranteed cost controller, which minimize the upper bound of the given performance function, are designed. The uncertainty considered is norm-bounded type. Both of the design conditions...
An adaptive algorithm for azimuth-angle estimation of moving sources in the presence of array nonidealities is proposed. The method, termed unitary element-space Capon (UESCapon) beamformer, is robust in the face of small number of snapshots and fully takes into account effects such as mutual coupling, mounting platform reflections, and sensor's misplacement errors. Unlike most of the robust beamformers...
This paper discusses an approach for closed loop robustness evaluation of nonlinear networked control systems (NCSs). The continuous-time nonlinear multi-input plant is controlled via several predesigned nonlinear discrete-time controllers which are connected to the plant through a time-triggered communication network. In particular, the communication scheduling for the actuator signals are considered...
The standard characteristic polynomial is an effective, simple and intuitional way for the design of multi-loop control systems to reduce the calculation loads. This method in this paper is proposed in order to calculate the initial value of the parameters for control system. The initial value of the multi-loop control parameters are calculated according to the different route parameters, and several...
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