We discuss a speed controller for a hopping robot with a pneumatically powered leg. The controller uses a neural network to model the neutral point as a function of running speed and hopping height. The network is trained off-line using training data taken from a simulated hopper that is manually controlled by a human. Simulation experiments of hopping in the sagittal plane show improved perfor...

A reduced order output feedback controller is designed for a linear time invariant system, which guarantees that the closed loop poles are placed within some pre-specified stability region in the complex plane. A convex approximation of the non-convex constraints is used to pose a sequence of semi-definite programs, which provide the lowest order proper controller satisfying the approximate con...

In this paper, the robust stability analysis of a fuzzy vehicle lateral system with perturbed parameters is presented. Firstly, the fuzzy controller can be linearized by utilizing the describing function method with experiments. After the describing function is obtained, the stability analysis of the vehicle lateral control system with the variations of velocity and friction is then carried out...

Purpose: Due to the paucity of the information regarding the lower limb biomechanics in slow speeds running as well as  concentration of the majority of previous studies in a single movement plane, aim of the present study was investigation on a kinetic based analysis of lower limb’ joints with increasing running speed. Methods: 28 runners asked to stay on the belt speed of treadmill that was ...

Increasing of word demand load caused a new Distributed Generation (DG) to enter to powersystem. One of the most renewable energy is the Photovoltaic System. It is beneficial to use thissystem in both separately as well as connected to power system using power electronics interface.In this paper an optimal PID controller for Photovoltaic System systems has been developed. Theoptimization techni...

This paper presents a perfect tracking control for discrete-time nonminimum phase of electro-hydraulic servo (EHS) system by adopting a combination of feedback and feedforward controller. A linear-quadratic-regulator (LQR) is firstly design as a feedback controller and a feedforward controller is then proposed to eliminate the phase error emerge by the LQR controller during the tracking control...

Airborne wind energy (AWE) systems with electrical machine on the ground are a promising alternative to classical wind turbines. Such systems are operated in pumping mode with the reel-out phase generating electrical power and the reel-in phase dissipating power [1]. We discuss DC-link voltage control of the grid-side voltage source inverter (VSI) which controls active power flow from the machi...

This article presents a fuzzy robust Mixed - Sensitivity Gain - Scheduled H controller based on the Loop -Shaping methodology for a class of MIMO uncertain nonlinear Time - Varying systems. In order to design this controller, the nonlinear parameter - dependent plant is first modeled as a set of linear subsystems by Takagi and Sugeno’s (T - S) fuzzy approach. Both Loop - Shaping methodology and...

In this paper we consider the problem of air to ground missile guidance system using fuzzy controller. The missile model is assumed as three degree of freedom (3DOF) (assuming the analysis in the vertical plane only).The homing guidance method is used. This paper presents numerical results for applying the fuzzy controller to the missile in different situations of control parameters in differen...

The paper presents an approach for robust PI controller design for a system affected by parametric uncertainty. The method is based on plotting the stability boundary locus in the plane of controller parameters that is called (kp, ki)-plane. Designed robust PI controller is implemented for control of two counter-current tubular heat exchangers in series with uncertain parameters, in which keros...