evolving models have found applications in many real world systems. in this paper, potentials of the evolving linear models (elms) in tracking control design for nonlinear variable structure systems are introduced. at first, an elm is introduced as a dynamic single input, single output (siso) linear model whose parameters as well as dynamic orders of input and output signals can change through ...

ph control is a challenging problem due to its highly nonlinear nature. in this paper the performances of two different adaptive global linearizing controllers (glc) are compared. least squares technique has been used for identifying the titration curve. the first controller is a standard glc based on material balances of each species. for implementation of this controller a nonlinear state est...

this article deals with the issues associated with developing a new design methodology for the nonlinear model-predictive control (mpc) of a chemical plant. a combination of multiple neural networks is selected and used to model a nonlinear multi-input multi-output (mimo) process with time delays.  an optimization procedure for a neural mpc algorithm based on this model is then developed. the p...

This paper considers two aspects of the nonlinear H∞ control problem: the use of weighting functions for performance and robustness improvement, as in the linear case, and the development of a Galerkin approximation method for the solution of the Hamilton-Jacobi-Isaacs Equation (HJIE) that arises in the output feedback case. Design of nonlinear H∞ controllers obtained by Taylor approximation an...

This paper presents the central finite-dimensional H∞ regulator for nonlinear polynomial systems, that is suboptimal for a given threshold γ with respect to a modified BolzaMeyer quadratic criterion including the attenuation control term with the opposite sign. In contrast to the previously obtained results, the paper reduces the original H∞ control problem to the corresponding optimal H2 contr...

Abstract: This paper presents a solution to the tracking control problem of robotic systems in the presence of exogenous disturbances and model uncertainty with partial state information. The solution yields a Linear Matrix Inequalities (LMIs) based tracking output feedback controller. The main contribution of this paper lies in its particular approach which facilitates an application of the li...

The standard state space solutions to the Em control problem for linear time invariant systems are generalized to nonlinear time-invariant systems. A class of nonlinear Em-controllers are parameterized as nonlinear fractional transformations on contractive, stable free nonlinear parameters. As in the linear case, the E, control problem is solved by its reduction to four simpler special state sp...

This paper formulates and solves the robust H∞ control problem for discrete time nonlinear switching systems. The H∞ control problem is interpreted as the l2 finite gain control problem and is studied using a dissipative systems theory for switched systems. Both state and measurement feedback control problems are formulated as dynamic games and solved using dynamic programming. The partially ob...

In this paper, the model-based robotic control problem with disturbance attenuation (or robotic H∞ control problem), presented in Chen et all (1994), is extended to underactuated manipulators. The dynamic coupling between the links is used to control all manipulator’s free joints. A global explicit solution is found solving a minimax Bellman-Isaacs equation, generated via differential game theo...

In this paper the nonlinear H1 con trol for robot manipulators introduced in (F eng, W., P ostleth w aite, I., 1994) is extended. An additional in tegral term is included to cope with persistent disturbances, such as constant weigh ts at theendefecctor. The extended controller is in terpreted like a computed torque control with and external PID, whose gain matrices vary with the position and ve...