This paper present a new effective algorithm for the optimal realization of state estimate feedback controller structures for discrete time systems subject to FiniteWord-Length (FWL) constraints. The problem is formulated as a nonlinear programming to provide an easy and efficient optimization tool to solve such complex problem. Simulation results of the optimum realizations of state estimate f...

This paper presents a practical implementation for a new formula of nonlinear PID (NPID) control. The purpose of the controller is to accurately trace a preselected position reference of one stage servomechanism system. The possibility of developing a transfer function model for experimental setup is elusive because of the lack of system data. So, the identified model has been developed via gat...

A PID-deadtime controller is realized by inserting a time delay into the integral feedback circuit. Such a controller possesses a transfer function similar to a Smith predictor or an internal-model controller. Effective tuning of PID deadtime controllers remains unsolved even though they give better regulatory performance than a conventional PID control algorithm for processes with a long pure ...

For nonlinear control, two problems are usually involved: regulation and tracking. By regulation, we mean make the system stable at the equilibrium point. By tracking, we mean to let the system output track a given trajectory while maintaining stability. In this paper, we try to solve these two problems in the same framework. The idea here is to represent the original nonlinear system by the T-...

This chapter is aimed at improving the local and global approximation and modelling capability of Takagi-Sugeno (T-S) fuzzy model and the design of an optimal fuzzy controller. The main aim is obtaining high function approximation accuracy and fast convergence. The approach developed here can be considered as a generalized version of TS fuzzy identification method with optimized performance in ...

The paper presents the design of nonlinear state feedback controller for a rigid manipulator. In order to obtain such controllers, a partial differential equation, HJB equation, should be solved, which is difficult to find a closed solution of that. In this paper, an efficient method using Taylor series expansion of nonlinear terms is used to tackle this problem. The tracking performance of the...

In this paper we present in a continuous-time framework an online approach to direct adaptive optimal control with infinite horizon cost for nonlinear systems. The algorithm converges online to the optimal control solution without knowledge of the internal system dynamics. Closed-loop dynamic stability is guaranteed throughout. The algorithm is based on a reinforcement learning scheme, namely P...

This paper presents a method of robust control system design for aircraft flight control systems with the existence of uncertainty parameters such as stability and control derivatives resulted by parameter identification process using real flight test data. A nonlinear model of aircraft turn coordination system is considered where the problem is to find the optimal controller by using the H∞ op...