there are two significant goals in teleoperation systems: stability and performance. this paper introduces an lmi-based robust control method for bilateral transparent teleoperation systems in presence of model mismatch. the uncertainties in time delay in communication channel, task environment and model parameters of master-slave systems is called model mismatch. the time delay in communicatio...

Increasing of word demand load caused a new Distributed Generation (DG) to enter to powersystem. One of the most renewable energy is the Photovoltaic System. It is beneficial to use thissystem in both separately as well as connected to power system using power electronics interface.In this paper an optimal PID controller for Photovoltaic System systems has been developed. Theoptimization techni...

This paper proposes a composite nonlinear controller combining backstepping and double-integral sliding mode controllers for DC–DC boost converter (DDBC) feeding by constant power loads (CPLs) to improve the DC-bus voltage stability under large disturbances in DC distribution systems. In this regard, an exact feedback linearization approach is first used transform dynamical model into simplifie...

This paper introduces an adaptive flutter suppression control algorithm which is based on the iterative estimate of the aeroelastic plant and design of the feedback controller. In this algorithm, the dual-Youla parametrization is implemented as an essential part to estimate the open loop aeroelastic model from the closed loop experiment. The advantage of utilizing the dual-Youla parametrization...

For a linear time-invariant system with a feedback controller, the closed-loop eigenvalues perturb due to system uncertainties. Given an allowable tolerance for the closed-loop eigenvalue perturbation, an algorithm is developed to obtain a state feedback controller that maximizes the uncertainty tolerance of the open-loop system matrix. The design procedure is based on an existing eigenvalue as...

Operational space control of industrial robots is addressed in this document. We analyze a two-loop hierarchical control with the resolved motion rate controller (RMRC) as outer loop and the joint velocity PI controller as inner loop; the latter is the typical velocity controller used in industrial robots. We prove, by the first time, that these simple controllers make the solutions of the clos...

The robust controller designed by conventional H∞ optimal control is complicated, high-order, and difficult to implement practically. In industrial applications, structures such as lead-lag compensators and PID are widely used because their structure is simple, tuning parameters are fewer, and they are lower-order. Their disadvantages are that control parameters are difficult to tune for good p...

The LQG controllers significantly improve antenna tracking precision, but their tuning is a trial-and-error process. A control engineer has two tools to tune an LQG controller: the choice of coordinate system of the controller, and the selection of weights of the LQG performance index. The paper selects the coordinates of the open-loop model that simplify the shaping of the closed-loop performa...

A constant voltage regulator, to supply constant power loads, is realized using a Switched-capacitor converter. Exhaustive studies have been carried out to find the suitability of available control schemes and finally one control scheme investigated with (i) operation of the converter at different crossover frequencies (ii) operation of the converter at different phase Margins. Various operatin...

in this paper, a new t-s fuzzy hyperbolic delay model for a class of nonlinear systems with time-varying delay, is presented to address the problems of stability analysis and feedback control. fuzzy controller is designed based on the parallel distributed compensation (pdc), and with a new lyapunov function, delay dependent asymptotic stability conditions of the closed-loop system are derived v...