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“To be considered for an 2015 IEEE Jack Keil Wolf ISIT Student Paper Award.” This work studies two interrelated problems - online robust PCA (RPCA) and online matrix completion (MC). Both problems assume that an accurate estimate of the low-dimensional subspace from which the first true data vector is generated is available. We develop a practical modification of a recently proposed algorithm to solve...
This paper proposes a model-based predictive sampled-data controller with a large fixed sampling rate h. Although the linear-time-invariant (LTI) plant is unknown, a nominal model is available. This nominal model is used to predict and compensate the influence of the large sampling using the measured information from the plant. The controller is designed on the basis of the nominal model. The robustness...
Multi-agent systems (MASs) are universal in nature, including biological, physical, and engineering systems. This paper investigates the robust consensus of a class of linear MASs with transmission noise. In detail, we develop a new framework to design an observer-based consensus protocol utilizing sampled data. That is, some sufficient conditions are derived to guarantee the existence of sampled...
The integration of renewable energies requests smart power grids to be capable of supporting various power flow patterns, and thus urgently needs the development of smart and robust power flow solvers. However, there are several great challenges, as the problem of power flow divergence and the issue of multi-solution. Homotopy methodology is commonly utilized to deal with these issues. This paper...
A framework based on the gap metric and integral quadratic constraints (IQCs) is developed for analysing robust synchronisation of heterogenous linear time-invariant networks. Both the agents and the communication channels are allowed to be dynamic and unstable. Structural properties of the uncertainty are described by IQCs and exploited in synchronisation analysis as a means to reduce conservatism...
When designing a control system, it is quite important to consider different constraints in order to provide the system's degree of robustness. It is possible to design the robust systems using some conventional approaches. However, they do not make clear how to consider constraints on systems parameters, sufficient system nonlinearities, and how to provide the necessary degree of robustness. The...
We discuss some properties of real spectral value sets (real pseudospectra) and compare them with their complex counterparts. Moreover, we provide explicit formulas for computing the real spectral value sets of normal and 2×2-matrices. Our main tool are the so called real perturbation values of a complex matrix M.
This paper proposes a new approach for detecting and isolating faults in a non-linear dynamic process using the multiple model approach. The necessary conditions for the assignability of eigenvalues to a region in the s-plane and the necessary conditions to guarantee the stability of fuzzy models for Takagi-Sugeno (T-S) fuzzy observers are derived. The paper is structured in two stages. The first...
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.
An adaptive control methodology, merging two known approaches to flight control problem, gain-scheduling and direct eigenspace assignment (DEA), is developed. A gain-scheduled inner (stability) loop structure is shown to minimize the variance of the outer (guidance) loop gains and increase the robustness of the system. The employment of DEA with gain scheduling is observed to decouple the longitudinal...
The paper presents an approach to dominant global motion estimation which is based on estimation of displacements of a small set of blocks. For each block, a robust motion-compensated block matching measure is evaluated for a fixed range of displacements. Analysis of matching measure values provides displacement estimates, and the related uncertainty is also evaluated using a gradient based thresholding...
A multirate controller for the coupled mass benchmark problem is presented. A robust controller with full state feedback is designed using LMI techniques, and the transfer properties of state feedback control are approximately recovered by using a very simple fast output sampling control law. The proposed controller is compared to a state feedback / loop transfer recovery solution reported in the...
The inverted pendulum is used as an example to illustrate controller fragility under minimum norm state feedback. The stabilization process gets trapped in a cusp. A parameter space representation shows a safe escape.
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 deals with the problem of Blind Source Separation (BSS). BSS algorithms typically require that observed data are prewhitened. The data are here assumed to be contaminated by highly deviating samples. Hence, covariance matrix used for whitening and determining the number of signals is estimated unreliably. We propose a method where data are first whitened in a robust manner. Sources are...
Exploitation of the NP hard, mixed μ problem structure provides a polynomial time algorithm that approximates μ with usually reasonable answers. When the problem is extended to the skew μ problem an extension of the existing method to the skew μ formulation is required. The focus of this paper is to extend the μ upper bound derivation to the skew μ upper bound and show its direct computation by way...
This paper tackles the problem of the characterization of robust pole-clustering for descriptor systems using linear matrix inequalities (LMI). It states a necessary and sufficient condition for a descriptor system to be impulse free and to have its finite poles in a specified convex region of the complex plane. A sufficient condition to guarantee this result in the presence of norm-bounded uncertainties...
In this paper, we consider robust regulation of a class of nonlinear systems, via H∞ controller using singular perturbation approach. First, using normal form equations, we eliminate the nonlinear part of the system matrix of equations of system and transform it to a linear diagonal form. Separating new equations to slow and fast subsystems, due to the singular perturbation approach and with the assumption...
Equation TA − FT = LC (F is stable) is necessary and sufficient for the output of a feedback compensator (F, L, KZ, Ky) to converge to a state feedback (SF) signal Kx(t) for a constant K, where (A, B, C, 0) is the open loop system and TB is the compensator gain to the open loop system input. Thus equation TB = 0 is the defining condition for this feedback compensator to be an output feedback compensator...
Building on recent results in the random matrix analysis of robust estimators of scatter, we show that a certain class of such estimators obtained from samples containing outliers behaves similar to a well-known random matrix model in the limiting regime where both the population and sample sizes grow to infinity at the same speed. This result allows us to understand the structure of such estimators...
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