Two phenomena can produce chattering: switching of input control signal and the large amplitude of this switching (switching gain). To remove the switching of input control signal, dynamic sliding mode control (DSMC) is used. In DSMC switching is removed due to the integrator which is placed before the plant. However, in DSMC the augmented system (system plus the integrator) is one dimension bi...

Dynamic sliding mode control (DSMC) of nonlinear systems using neural networks is proposed. In DSMC the chattering is removed due to the integrator which is placed before the input control signal of the plant. However, in DSMC the augmented system is one dimension bigger than the actual system i.e. the states number of augmented system is more than the actual system and then to control of such ...

In this paper, we present a nonlinear H∞ control technique for the bilateral teleoperation of a nonlinear master-slave system. The proposed controller guarantees robust stability in the presence of uncertainty in operator and environment impedances. The guidelines to include nonlinear intervening tool between master and slave robot are suggested. The proposed technique enables adjusting weighti...

This paper analyzes the stability of nonlinear systems with quantized feedback in the presence of exogenous disturbances. This paper is an extension of [Liberzon, Nešić (2007)] to nonlinear systems. Under appropriate assumptions using nonlinear modification of the scheme proposed in [Liberzon, Nešić (2007)], it is shown here that it is possible to achieve input-to-state and nonlinear gain l2 st...

In this lecture, we investigate controllability and observability of nonlinear control systems affine in the inputs. The treatment corresponds to selected parts from Chapter 3 in [1], Chapter 4 in [2], and Chapter 2 in [3].

In the present paper, a new 2-D Van der Polstructural oscillator model is introduced for the vortex induced vibrations of circular cylinders.The main purpose of this task is to control the recently introduced model by means of modern control definitions in state space. In order to control the system, the whole model is linearized about its equilibrium point by deriving state-space matrices. The...

We study a physically simple two degree of freedom attitude control system that has a single control input. The physical assumptions are described. Equations of motion are derived and expressed in a nonlinear control form. We demonstrate that the system is inherently nonlinear. Conditions for small time local controllability of the state and of the configuration are presented.

Many real time processes have complex, uncertain and nonlinear dynamics. Boilers are nonlinear, time varying, multi-input multi-output (MIMO) systems, whose states generally vary with operating conditions. The major problem in controlling that system is that its drum water pressure and steam flow dynamics include an integrator that results a critically stable behavior. Conventional controller p...