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 ...

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.

In order to guarantee stability, known results for MPC without additional terminal costs or endpoint constraints often require rather large prediction horizons. Still, stable behavior of closed loop solutions can often be observed even for shorter horizons. Here, we make use of the recent observation that stability can be guaranteed for smaller prediction horizons via Lyapunov arguments if more...

Deep brain stimulation (DBS) is known as the most effective technique in the treatment of neurodegenerative diseases, especially Parkinson disease (PD) and epilepsy. Relative healing and effective control of disease symptoms are the most significant reasons for the tangible tendency in use and development of this technology. Nevertheless, more cellular and molecular investigations are required ...

In this paper, a simple structure design with arbitrary motion/force scaling to control teleoperation systems, with model mismatches is presented. The goal of this paper is to achieve transparency in presence of uncertainties. The master–slave systems are approximated by linear dynamic models with perturbed parameters, which is called the model mismatch. Moreover, the time delay in communicatio...

This talk reports on an analytic derivation of the complete stability region of the Proportional Integral (PI) Active Queue Management (AQM). The stability region represents the entire set of the feasible design parameters, i.e., the proportional and the integral gains, that stabilize the closed-loop TCP-AQM system. AQM controls congestion by proactively marking or dropping packets before the i...

The dynamic behavior for a high-purity/high-conversion reactive distillation is investigated. The impact of disturbance magnitudes and directions on both open loop and closed loop stability of the system is studied. Excess of less volatile reactant in two-reactant-two-product generic reactive distillation is found to enhance open loop stability, but decreases the products purity. However, exces...