Wedevelop a switched feedback controller that optimizes the rate of convergence of the state trajectories to the origin for a class of second order LTI systems. Specifically, we derive an algorithmwhich optimizes the rate of convergence by employing a controller that switches between symmetric gains. As a byproduct of our investigation, we find that, in general, the controllers which optimize t...

In this study, inelastic constitutive modelling is considered for the simulation of shear-thinning fluids through a circular channel. Numerical solutions are presented for power-law inelastic model, considering axisymmetric Poiseuille flow through a channel. The numerical simulation of such fluid is performed by using the Galerkin finite element approach based on artificial compression method (...

in recent years, underactuated nonlinear dynamic systems trajectory tracking, such as space robots and manipulators with structural flexibility, has become a major field of interest due to the complexity and high computational load of these systems. hierarchical sliding mode control has been investigated recently for these systems; however, the instability phenomena will possibly occur, especia...

This paper describes a robust and non-fragile H∞ controller design method for descriptor systems with parameter uncertainties and time delay, as well as a static state feedback controller with multiplicative uncertainty. The controller existence condition, as well as its design method, and the measure of non-fragility in the controller are proposed using linear matrix inequality (LMI) technique...

In most adaptive control algorithms, parameter estimate errors are not guaranteed to converge to zero. This lack of convergence adversely affects the global performance of the algorithms. The effect is more pronounced in control problems where the desired reference setpoint or trajectory depends on the system's unknown parameters. This paper presents a parameter estimation routine that allows e...

A nonlinear frequency response based adaptive vibration controller is proposed for a class of nonlinear mechanical systems. In order to obtain the nonlinear Frequency Response Function (FRF), the convergence properties of the system are studied by using the convergence (contraction) theory. If the system under consideration is: 1) convergent, it directly enables to derive a nonlinear FRF for a ...

In order to reduce the memory footprint and energy consumption of embedded microcontroller in mobile robot, the concise differential evolution algorithm based on chaotic local search (CDE-CLS) is proposed for online optimization of recurrent fuzzy neural network (RFNN) controller in robot path planning so that the robot can be adaptive real-time obstacle avoidance. The CDE-CLS algorithm reduces...

We revisit the extremum seeking scheme whose local stability properties were analyzed in (Krstić and Wang, 2000) and propose its simplified version that still achieves extremum seeking. We show under slightly stronger conditions that this simplified scheme achieves extremum seeking from arbitrarily large domain of initial conditions if the parameters in the controller are appropriately adjusted...