We present a method for approximating the solution of a parameterized, nonlinear dynamical system using an affine combination of solutions computed at other points in the input parameter space. The coefficients of the affine combination are computed with a nonlinear least squares procedure that minimizes the residual of the governing equations. The approximation properties of this residual mini...

In [1], we have demonstrated that robust optimization of linear finite-horizon control in a discrete time linear dynamical system affected by uncertain disturbances becomes computationally tractable if, rather than using natural parameterization of a linear output-based control law, one passes to a specific re-parameterization of the law, representing it as affine control law based on the so ca...

The problem of estimating unmeasured state and disturbance variables for nonlinear process control applications is considered. We assume that the process model is affine with respect to the unmeasured disturbances and any unmeasured state variables. The disturbances are considered as additional state variables, and a nonlinear observer is designed for the augmented state-space system. The obser...

A gramians based method for quantifying the nonlinearity of the control-affine spatio-temporal systems is proposed in this paper. The empirical gramians are computed from the data collected from a nonlinear model derived by collocation method for spatio-temporal systems. This method compares the empirical gramians of the nonlinear model with that of the linearized model at its steady state oper...

In this paper we develop a theory of stabilizing singleinput nonlinear affine systems using quantized feedback. We construct a stabilizing quantizer based on a control Lyapunov function (CLF), and a robustly stabilizing quantizer based on a robust control Lyapunov function (RCLF). We characterize the coarsest quantizer under certain conditions. The special features of several classes of nonline...

The model and control of a human forearm is analyzed. In this work, we study the problem of human hand control carrying a mass. The equation of motion and the natural frequency of the forearm for small angular displacement are derived. We develop new methods that use vector fields in the controller construction for a set of nonlinear dynamical systems. The paper deals with compensate of non-lin...

Kalman-Bucy smoothers are often used to estimate the state variables as a function of time in a system with stochastic dynamics and measurement noise. This is accomplished using an algorithm for which the number of numerical operations grows linearly with the number of time points. All of the randomness in the model is assumed to be Gaussian. Including other available information, for example a...

This paper presents a control methodology that enables nonlinear model-based control of pulse width modulated (PWM) pneumatic servo actuators. An averaging approach is developed to describe the equivalent continuous-time dynamics of a PWM controlled nonlinear system, which renders the system, originally discontinuous and possibly nonaffine in the input, into an equivalent system that is both co...