We consider the design of a robust H∞ filter for sampled-data systems whose measurements are sampled at uncertain and nonuniform sampling instants. A discretetime, fixed-structure filter is considered. The resulting error system is time-varying, which makes the filter design difficult. A procedure is presented to design the filter so that the error system remains asymptotically stable for all p...

Robust controller design techniques have been applied to the field of vehicle control to achieve many different performance measures: robust yaw rate control [1], robust lateral positioning using one [2, 3] or more [4-6] driver inputs, robust observer design, and so on. A difficulty with many published approaches is to obtain an adequate description of the model uncertainty. Most bounds on plan...

In this paper, we consider a controller failure time analysis problem for a class of symmetric linear time-invariant (LTI) systems controlled by a pre-designed symmetric static output feedback. We assume that the controller fails from time to time due to physical or purposeful reason, and analyze stability and H∞ disturbance attenuation properties for the entire system. Our objective is to find...

The paper deals with the design and implementation of chosen algorithm based on modern control theory into programmable automation controllers (PAC) used for tutorial purposes. Physical model of Ball&Beam was chosen as an example of a real system to be controlled by H-inf robust controller, using a mixed sensitivity configuration scheme. It covers all the phases of design and implementation of ...

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In the present paper the problem of tracking of rigid body motion in SE(3) in the presence of torque disturbances is addressed. A penalty variable whose Euclidean norm is a measure of the tracking error is deened. Then nonlinear H 1 control theory is applied to design a control law such that the closed loop system has L 2-gain from the torque disturbances to this penalty variable for a xed posi...

In this paper, we give a causal solution to the problem of spline interpolation using H∞ optimal approximation. Generally speaking, spline interpolation requires filtering the whole sampled data, the past and the future, to reconstruct the inter-sample values. This leads to non-causality of the filter, and this becomes a critical issue for real-time applications. Our objective here is to derive...

The design of full-order robust estimators is investigated for continuous-time polytopic uncertain systems. The main purpose is to obtain a stable linear estimator such that the estimation error system remains robustly stable with a prescribed H∞ attenuation level. Firstly, a simple alternative proof is given for an improved LMI representation of H∞ performance proposed recently. Based on the p...

The classical Weyl formula expresses the leading term of the asymptotics of the counting function N(lambda, H) of the spectrum of a self-adjoint operator H in an invariant form: one can "hear" the volume of the subset of the cotangent bundle where the symbol of the operator H is less than lambda. In particular, it is applicable to Schrodinger operators with electric potentials growing at infini...

The Kalman filter is an optimal estimator with numerous applications in technology, especially in systems with Gaussian distributed noise. Moreover, the adaptive Kalman filtering algorithms, based on the Kalman filter, can control the influence of dynamic model errors. In contrast to the adaptive Kalman filtering algorithms, the H-infinity filter is able to address the interference of the stoch...