This paper presents a simple feed forward adaptive multi-periodic repetitive control scheme for the ASPR(Almost Strictly Positive Real) or ASNR(Almost Strictly Negative Real, See Appendix for definition) plant to asymptotically track/reject multi-periodic reference/disturbance signals. The lyapunov stability analysis is given. This is an extension work of the lyapunov stability analysis for mul...

BACKGROUND Anaerobic digesters become unstable when operated at a high organi c loading rate (OLR). Investigating the microbial community response to OLR disturbance is helpful for achieving efficient and stable process operation. However, previous studies have only focused on community succession during different process stages. How does community succession influence process stability? Is thi...

In this paper, dynamic equations of motion of a 5 DoF robot manipulator including mechanical arms with revolute joints and their electrical actuators are considered. The application of integrator backstepping technique for trajectory tracking in presence of parameters of uncertainty and disturbance is studied. The advantage of this control technique is that it imposes the desired properties of ...

In this paper, an angular tracking control based on adaptive super twisting algorithm (ASTA) for a Twin Rotor System is presented. With the aim of implementing the ASTA control and taking into consideration the difficulties of measuring some of its states, a Nonlinear Extended State Observer (NESO) is employed to estimate the vector state and furthermore unmeasured dynamics. This scheme increas...

This paper presents an Internal Model Control (IMC) structure designed for a class of continuous linear underactuated systems. The study treats the case of Minimum Phase (MP) systems and those whose zero dynamics are not necessarily stable. The proposed IMC structure is based on a specific controller which is obtained by the realization of an approximate inverse of the model plant. It is shown ...

Owing to the imposed coupling accelerations such as quadrature error and cross-axis perturbation, the micro-machined gyroscope could not be unconditionally retained at resonant mode. Once the preset resonance is not sustained, the performance of the micro-gyroscope is accordingly degraded. In this paper, a direct model reference adaptive control loop which is integrated with a modified disturba...

In this study, an adaptive Neural Network (NN) based backstepping controller is proposed to realize chaos synchronization of two gap junction coupled FitzHugh-Nagumo (FHN) neurons with uncertain time delays. In the designed backstepping controller, a simple Radial Basis Function (RBF) NN is used to approximate the uncertain nonlinear part of the error dynamical system. The weights of the NN are...