In this paper, the problem of the stabilization of Linear Parameter Varying systems by means of Gain Scheduling Control, is considered This technique consists on designing a controller which is able to update its parameters on–line according to the variations of the plant parameters. We first consider the state feedback case and we show a design procedure based on the construction of a Lyapunov...

This letter provides formal safety guarantees for control systems with disturbance. A disturbance observer-based robust safety-critical controller is proposed, that estimates the effect of on and utilizes this estimate barrier functions to attain provably safe dynamic behavior. The observer error bound – which consists transient steady-state parts quantified, system endowed robustness against v...

Design and Implementation of Discrete Time Observer Based Backstepping Controller for a 2DOF Servomechanism

In this study, nonlinear second order systems with unmeasured system states and bounded external disturbances are considered. The observer gain of the sliding mode observer is adjusted by using a support vector machine based plant model. Computer simulations are presented to show the effect of the proposed adjustment mechanism on the performance of the output feedback sliding mode controller. I...

The modeling and control of a two-wheeled inverted pendulum (TWIP) is gaining much interest due to the various advancements in hardware computing technologies. A TWIP system has many advantages applications. However, it still faces challenges such as positioning, disturbance rejection, parameter uncertainties, etc. In this paper, scheme based on modern techniques presented overcome these issues...