A direct adaptive non-linear control framework for multivariable non-linear uncertain systems with exogenous bounded disturbances is developed. The adaptive non-linear controller addresses adaptive stabilization, disturbance rejection and adaptive tracking. The proposed framework is Lyapunov-based and guarantees partial asymptotic stability of the closed-loop system; that is, asymptotic stabili...

This paper presents a data-driven controller tuning method that includes a set of constraints for ensuring closed-loop stability. The approach requires a single experiment and can also be applied to nonminimum-phase and unstable systems. The tuning scheme generates an estimate of the closedloop output error that is used to minimize an approximation of the model reference control problem. The co...

This paper addresses the synthesis of a predictive controller for a nonlinear process based on a fuzzy model of the Takagi–Sugeno (T–S) type, resulting in a stable closed-loop control system. Conditions are given that guarantee closed-loop robust asymptotic stability for open-loop bounded-input–boundedoutput (BIBO) stable processes with an additive 1-norm bounded model uncertainty. The idea is ...

in this paper, a two-surfaces sliding mode controller (tssmc) is proposed for the voltage tracking control of a two input dc-dc converter in application of electric vehicles (evs). the imperialist competitive algorithm (ica) is used for tuning tssmc parameters. the proposed controller significantly improves the transient response and disturbance rejection of the two input converters while prese...

Joint flexibility is a very important factor to consider in the controller design for robot manipulators if high performance is expected. Most of the research works on control of flexible-joint robots in literature have ignored the actuator dynamics to avoid complexity in controller design. The problem of designing nonlinear controller for a class of single-link flexible-joint robot manipulator...

Control of systems where the information between the controller, actuator, and sensor can be lost or delayed can be challenging with respect to stability and performance. One way to overcome the resulting problems is the use of prediction based compensation schemes. Instead of a single input, a sequence of (predicted) future controls is submitted and implemented at the actuator. If suitable, so...

A general approach to real-time transient stability control is described, yielding various complementary techniques: pure preventive, open loop emergency, and closed loop emergency controls. The organization of the resulting control schemes is then revisited in order to make it able to cover static and voltage security, in addition to transient stability. Distinct approaches for preventive and ...

This paper investigates the robust decentralized nonlinear control of power flow in a power system using a new configuration of UPFC. This structure comprises two shunt converters and one series capacitor called as hybrid power flow controller (HPFC). A controller is designed via control Lyapunov function (CLF) and adaptive observer to surmount the problems of stability such as tracking desired...

This paper presents an attitude control algorithm for a Reusable Launch Vehicle (RLV) with a low lift/drag ratio (L/D < 0.5), in the presence of external disturbances, model uncertainties, control output constraints and the thruster model. The main novelty of proposed control strategy is a new combination of the attitude control methods included backstepping, dynamic inversion and adaptive cont...

This thesis considers robust control of an induction motor drive, consisting of an input filter, a voltage source inverter and one or several induction motors in parallel. The motor torque is here controlled by using the method Indirect Self Control (ISC), and power oscillations between the inverter and the input filter are damped by means of a stabilization controller in an outer feedback loop...