The problem of the integral evaluations of the state and control vectors in continuous multi-input-multi-output fuzzy control systems is investigated. The fuzzy controller is assumed to be nonlinearity in a bounded sector and the controlled plant a linear system described by the differential or integral equations. The stability problem is investigated and the problem of how to use the integral ...

This paper describes the application of diierential atness techniques from nonlinear control theory to mechanical (La-grangian) systems. Systems which are diierentially at have several useful properties which can be exploited to generate eeective control strategies for nonlinear systems. For the special case of mechanical control systems, much more geometric information is present and the purpo...

a mobile manipulator robot is known as a complex system due to some properties such as coupling between the manipulator and mobile chassis, holonomic and nonholonomic constraints, multivariable and nonlinear dynamics. the control of robot faces the external disturbance, parametric uncertainty and unmodeled dynamics. therefore, the use of an adaptive fuzzy system is suggested for its capability ...

The feedback equivalence of three state, two input non-linear control systems is analyzed using Cartan’s method of equivalence. The control linear and linear equivalents are classified, including examples of control linear systems which are inequivalent to linear system. Existence of time critical closed loop controls is demonstrated for “fully non-linear” control systems. The existence of natu...

In this paper we give a necessary and suÆcient condition for an Internal Model Control (IMC) structure to be robustly L2 stable with respect to H1 bounded model uncertainty and in presence of input saturation. This condition is used for the design of a controller that is the best H1 approximation to \perfect" linear control among all controllers guaranteeing L2 stability in the presence of actu...

In this paper, the problem of robust stabilization and robust disturbance attenuation is investigated for systems with linear nominal parts and norm-bounded nonlinear uncertainties on both states and control inputs. It is shown that the type of nonlinear uncertainty sets considered in this paper has an equivalent representation by linear uncertainty sets. Based on this key result and some stand...

We present a new iterative approach for solving linear systems of equations. Our method is inspired by feedback stabilization schemes from robust control and yields a control system, whose parameters can be tuned to achieve prescribed convergence properties. In contrast to well–known iterative solution methods for linear equations from linear algebra, such as GMRES(m) or Arnoldi’s method, the p...