Simple power electronic drive circuit and fault tolerance of converter are specific advantages of SRM drives, but excessive torque ripple has limited their use to special applications. It is well known that controlling the current shape adequately can minimize the torque ripple. This paper presents a new method for shaping the motor currents to minimize the torque ripple, using a neuro-fuzzy co...

In this paper, a robust and optimal control method is proposed for the attitude control problem of multirotors. The designed controller consists of an optimal controller and a robust compensator. The optimal controller is designed based on the linear quadratic regulation control method for the desired tracking of the nominal linear system, whereas the robust compensator is introduced to restrai...

It is well known that computed torque robot control is subjected to performance degradation due to uncertainties in robot model, and application of neural network(NN) compensation techniques are promising. In this paper we examine the eeectiveness of neural network(NN) as a compensator for the complex problem of Cartesian space control. In particular we examine the diierences in system performa...

In view of the lack dynamicity in a traditional fixed sensor system, an algorithm of tracking multiple maneuvering targets in a dynamic sensor system is proposed in this paper. The algorithm combines coordinate conversion logics and a multiple sensor data fusion for it to work in the dynamic sensor system. With the developed algorithm, the sensors can be installed in various tracking systems wh...

We consider stability and robustness of feedback systems, where plant and compensator need not be strictly proper. In an earlier paper [1] we described a functional R∞ which, when negative, guarantees closed-loop instability as a result of parasitic interactions in the feedback loop. In our main result, Theorem 5, we prove that, when R∞ > 0, there exist perturbations of plant and compensator fr...

A class of interconnected systems with nonlinear interconnections and nonlinear disturbances is considered. A continuous nonlinear reduced-order compensator is established by exploiting the structure of the uncertainties. A sliding surface is proposed in an augmented space formed by the system output and the compensator variables, and the stability of the corresponding sliding mode is analysed....

In this paper, the compensator based reduced order control design framework of 2] is modiied to yield low order systems with guaranteed stability margins. This result is achieved through use of a logarithmic barrier function. In addition, a reduced basis method is formulated in which the compensator equations are approximated on uneven grids; guaranteed stability margins are also included. The ...

In this paper, performance evaluation of different schemes for location of fault in series compensated transmission lines are presented. A fault location algorithm using two end measurements and another fault location algorithm using one end measurements for transmission lines with series compensator at midpoint are simulated and results are obtained. Both the schemes are compared on the basis ...

This paper proposes a multiinput and multioutput MIMO quasi-autoregressive eXogenous ARX model and amultivariable-decoupling proportional integral differential PID controller for MIMO nonlinear systems based on the proposed model. The proposed MIMO quasi-ARX model improves the performance of ordinary quasi-ARX model. The proposed controller consists of a traditional PID controller with a decoup...

In this paper, we propose a design method of a static anti-windup compensator for systems with input magnitude and rate saturations. First, we present an anti-windup controller for systems with input magnitude and rate saturations. Then, we show that the design problem of the anti-windup compensator that guarantees the local stability of the closed-loop system against saturation nonlinearities ...