This paper describes a new approach to solving some stochastic optimization problems for linear dynamic system with various parametric uncertainties. Proposed approach is based on application of tensor formalism for creation the mathematical model of parametric uncertainties. Within proposed approach following problems are considered: prediction, data processing and optimal control. Outcomes of...

this paper proposes a discrete-time repetitive optimal control of electrically driven robotic manipulators using an uncertainty estimator. the proposed control method can be used for performing repetitive motion, which covers many industrial applications of robotic manipulators. this kind of control law is in the class of torque-based control in which the joint torques are generated by permanen...

nuclear power reactors are, in nature nonlinear and time varying. these characteristics must be considered, if large power variations occur in their working regime. in this paper a robust optimal gain scheduling controller for regulating the power of a nuclear reactor has been designed and simulated. the proposed controller is capable of regulating power levels in a wide power range (10% to 100...

Recent success in nonlinear control design is applied to the control of Euler–Lagrange systems. It is known that the existence of optimal control depends on solvability of the so-called Hamilton–Jacobi–Isaccs (HJI) partial differential equation. In this article, the associated HJI equation for nonlinear inverse-optimal control problem for Euler–Lagrangian system is solved analytically. The resu...

background and aims: the world is threatened by disease outbreak that reaches a public health emergency of international concern, studies to inform public and agencies for effective containment strategy are necessary. several studies provided vital information of the dynamics and control of ebola epidemic outbreak in west africa. methodologies and techniques in those researches have to be revie...

‎in this paper we introduce a numerical approach that solves optimal control problems (ocps)‎‎using collocation methods‎. ‎this approach is based upon b-spline functions‎.‎the derivative matrices between any two families of b-spline functions are utilized to‎‎reduce the solution of ocps to the solution of nonlinear optimization problems‎.‎numerical experiments confirm our theoretical findings‎.

in this article, vehicle cornering stability and brake stabilization via bifurcation analysis has been investigated. in order to extract the governing equations of motion, a nonlinear four-wheeled vehicle model with two degrees of freedom has been developed. using the continuation software package matcont a stability analysis based on phase plane analysis and bifurcation of equilibrium is perfo...

A mixed Optimal/robust control is proposed is this paper for the tracking of rigid robotic systems under parametric uncertainties and external perturbations. The design objective is that under a prescribed disturbance norm level, an optimal control system is to be designed as well as a robust control to overcome the effect of uncertainties. The optimal control is based on the solution of a nonl...

The main contributions in this thesis are advances in parametric programming. The thesis is divided into two parts; theoretical advances and application areas for parametric programming. The first part deals with continuity properties and the structure of solutions to convex parametric quadratic and linear programs. The second part focuses on applications of parametric quadratic and linear prog...