In this work, we consider nonlinear singularly perturbed systems with time-varying uncertain variables, for which the fast subsystem is asymptotically stable and the slow subsystem is input/output linearizable and possesses input-to-state stable (ISS) inverse dynamics. For these systems, we synthesize a robust output feedback controller that ensures boundedness of the state and enforces robust ...

The balancing of an inverted pendulum by moving a cart along a horizontal track is a classic problem in the area of control. This paper will describe two methods to swing a pendulum attached to a cart from an initial downwards position to an upright position and maintain that state. A nonlinear heuristic controller and an energy controller have been implemented in order to swing the pendulum to...

This communication develops an observer-based feedback controller for the stabilization of periodic orbits arising in bipedal robots. The robot is modeled as a system with impulse effects and it is assumed that the robot’s configuration variables are measured and that the moment of impact of the swing leg with the ground can be detected as well. It is shown that if a continuously differentiable...

This paper is concerned with H sampled-data control for uncertain fuzzy systems. A new approach to sampled-data control is introduced. The system is modelled as a continuous-time fuzzy system, while in practice, the control input has a piecewise-continuous delay. Sufficient conditions for the closed-loop system with a sampled-data state feedback controller to achieve a prescribed H disturbance ...

A new approach for observer-based feedback control of time-delay systems is developed. Timedelays in systems lead to characteristic equations of infinite dimension, making the systems difficult to control with classical control methods. In this paper, a recently developed approach, based on the Lambert W function, is used to address this difficulty by designing an observer-based state feedback ...

This paper presents L 2 gain controller synthesis for the fuzzy T-S model (Takagi-Sugeno). Both the state-feedback controller and the output feedback controller are discussed. They are in the format of PDC (parallel distributed compensation) controller which is essentially a nonlinear controller. Based on the bounded-real lemma, the synthesis procedure is expressed in LMI conditions which can b...

In this paper, an adaptive fuzzy control scheme is proposed for a class of perturbed strict-feedback nonlinear systems with unknown discrete and distributed time-varying delays, and the proposed design method does not require a priori knowledge of the signs of the control gains.Based on the backstepping technique, the adaptive fuzzy controller is constructed. The main contributions of the paper...

SVC is one of the most significant devices in FACTS technology, which is used in parallel compensation, enhancing the transient stability, limiting the low frequency oscillations and, etc. designing a proper controller is effective in operation of SVC. In this paper, a simplified analysis of the effect of a SVC on the stability of a Single Machine Infinite Bus (SMIB) system is presented. The SV...

This paper considers the synthesis of non-fragile H∞ state feedback controllers for singular systems and static state feedback controller with multiplicative uncertainty. The sufficient condition of controller existence, the design method of non-fragile H∞ controller, and the measure of non-fragility in controller are presented via LMI(linear matrix inequality) technique. Also, through singular...