This paper is concerned with the optimal distributed control problem for linear discrete-time deterministic and stochastic systems. The objective is to design a stabilizing static distributed controller whose performance is close to that of the optimal centralized controller. To this end, a necessary and sufficient condition is derived to guarantee the existence of a distributed controller that...

The problem of controlling a perturbed open loop system so as to keep its performance errors within bounds is considered. The objective is to maximize the time during which performance errors remain below a prescribed ceiling, while the controlled system’s parameters are within a specified neighborhood of their nominal values. It is shown that there is an optimal open-loop controller that achie...

This paper studies the optimal control of linear systems over continuous valued fading channels. The sensor measurements are sent over a fading wireless channel to a remote controller using the analog amplify and forward technique. The controller then computes a control signal, which is transmitted over another fading channel to the actuator. Under the assumption of full channel state informati...

Using the dual Youla parametrizations of controller based coprime factor plant perturbations and plant based co-prime factor controller perturbations, we provide a computational procedure for computing an optimal innnite horizon Linear Quadratic Gaussian (LQG) controller from any stabilizing controller. The method allows us to calculate a new optimal LQG controller from a previous one when the ...

Abstract-This paper suggests an inverse optimal PID control design method for mechanical manipulators. We find the Lyapunov function and the control law satisfying the disturbance input-to-state stability by using the characteristics of Lagrange system. Also, we show that the inverse optimal PID controller satisfies the HamiltonJacobi-Isaacs equation. Hence, the inverse optimality of the closed...

This paper focuses on resolving the trajectory tracking problem of two wheeled mobile robot. We begin by presenting the kinematic model of the robot which is the base of the control law then we present a PI controller and a model predictive controller to solve the problem of trajectory tracking. We performed a comparison between the performances of the classical PI controller and the predictive...

This paper deals with an inverse optimal H1 disturbance attenuation for the planar manipulators with the eye-in-hand system. The input-to-state stability control Lyapunov function (ISS-CLF) is constructed the full Lagrangian dynamics based on a potential function of the image feature parameter space. The ISS-CLF gives us an inverse optimalH1 control law. A proposed controller solves the inverse...

A fuzzy controller design is performed for a three joint robot leg in protraction phase. The aim is to develop a controller to carry the tip point to any given destination. The design is based on the inspirations derived from optimal behaviors of the leg. The optimal trajectories are obtained by using optimization methods utilizing “numerical gradient” and “optimal control” successively. Separa...

Ethanol from corn is produced using dry grind corn process in which simultaneous saccharification and fermentation (SSF) is one of the most critical unit operations. In this work an optimal controller based on a previously validated SSF model was developed by formulating the SSF process as a Bolza problem and using gradient descent methods. Validation experiments were performed to evaluate the ...

Output voltage regulation is a primary performance objective in power electronics systems which are not supported by a stiff voltage source. In this paper, we pose an optimal voltage control problem for ac inverter systems and study the structure of the resulting feedback laws. Here, it is demonstrated that the solution to the optimal voltage regulation control problem exhibits an inner current...