This paper investigates the formulation of nonlinear model-predictive control problems with economic objectives on an infinite horizon. The proposed formulation guarantees nominal stability for closed-loop operation. Furthermore, a novel solution method of the infinite horizon method through a transformation of the independent time variable is employed. The closed-loop optimization with infinit...

This paper focuses on robust performance analysis of a closed loop fractional order system through a sensitivity approach. The characteristic ratio assignment method is selected to attain a desired closed loop transient response. Then, we compute the sensitivity of such a desired transfer function with respect to its characteristic ratio and we explore its specifications. The relation between t...

Stress in piezoelectric material can be controlled by imposing the electrical field. Thanks to a feedback, this electrical field can be a function of some strain related measurement so as to confer to the piezoelectric device a closed loop macroscopic behaviour. In this paper we address the modelling of such system by extending the modal decomposition methods to account for the closed loop. To ...

In this paper, a minimum entropy control approach for closed-loop tracking error is studied for linear dynamic control systems subjected to stochastic disturbances. The basic idea is to construct a feedback control scheme with the guaranteed closed loop stability using the Youla parameterization that provides a set of free parameters embedded in the controller. The entropy of the closed loop tr...

This paper presents a motion planner and nonholonomic controller for a mobile robot, with global collision avoidance and convergence properties. This closed loop approach combines appropriately designed (dipolar) potential fields with discontinuous feedback and is suitable for real time implementation. It makes use of a novel kind of Lyapunov functions which are useful for nonholonomic navigati...

It is well-known that exponential stabilization of a neutral system with unstable diierence operator is only possible by allowing for control laws containing derivative feedback. We show that closed-loop stability of a neutral system with unstable open-loop diierence operator obtained by applying a derivative feedback scheme is extremely sensitive to arbitrarily small time-delays in the feedbac...

This paper deals with Takagi-Sugeno (T-S) systems stabilization based on dynamic output feedback compensators (DOFC). In fact, only few results consider DOFC for T-S systems and most of them propose quadratic Lyapunov stability function to provide stability conditions, which may lead to conservatism. In this work, to overcome this drawback and enhance the closed-loop transient response, we prov...

Abstrad-Two different predictive control formulations are developed based on minimization of the worst-case quadratic cost for systems with bounded parameters. The two formulations differ on the assumptions made about the future inputs in optimizing the current input: one assumes open-mop control, while the other considers closed-loop control. Their closed-loop properties such as asymptotic sta...

A new stability criterion on Nichols chart is presented. It provides an alternative graphical method for stability analysis on Nichols chart. Furthermore this result can be used to test the stability of the new nominal closed-loop system arising in QFT controller design method for non-minimum phase and unstable plants, which is diicult to test with the existing stability criterion.

We consider second order infinite-dimensional systems with force con­ trol and collocated position measurement interconnected with finite-dimensional controllers of the same type. We show that under assumptions that gener­ alize those in the finite-dimensional case (the theory of negative imaginary systems), asymptotic stability of the closed-loop system can be concluded, but that the closed-lo...