joint flexibility is a very important factor to consider in the controller design for robot manipulators if high performance is expected. most of the research works on control of flexible-joint robots in literature have ignored the actuator dynamics to avoid complexity in controller design. the problem of designing nonlinear controller for a class of single-link flexible-joint robot manipulator...

this paper focuses on the non-fragile guaranteed cost control problem for a class of t-s fuzzy time-varying delay systems with local bilinear models. the objective is to design a non-fragile guaranteed cost state feedback controller via the parallel distributed compensation (pdc) approach such that the closed-loop system is delay-dependent asymptotically stable and the closed-loop performance i...

this article presents a fuzzy robust mixed - sensitivity gain - scheduled h controller based on the loop -shaping methodology for a class of mimo uncertain nonlinear time - varying systems. in order to design this controller, the nonlinear parameter - dependent plant is first modeled as a set of linear subsystems by takagi and sugeno’s (t - s) fuzzy approach. both loop - shaping methodology and...

In this paper, a new analytical method to find a near-optimal high gain controller for the non-minimum phase affine nonlinear systems is introduced. This controller is derived based on the closed form solution of the Hamilton-Jacobi-Bellman (HJB) equation associated with the cheap control problem. This methodology employs an algebraic equation with parametric coefficients for the systems with s...

This paper presents an implementation of open loop and closed loop control of Quadratic boost converter using PID controller.  Quadratic boost converter consists of boost converter and fly back converter driven by a single switch. Quadratic boost converter QBC is designed especially for regulating the DC interface between various micro sources and dc-ac inverter to electricity grid. Quadratic b...

Joint flexibility is a very important factor to consider in the controller design for robot manipulators if high performance is expected. Most of the research works on control of flexible-joint robots in literature have ignored the actuator dynamics to avoid complexity in controller design. The problem of designing nonlinear controller for a class of single-link flexible-joint robot manipulator...

Robust performance controller design for duty-cycle controlled series resonant converter (SRC) is proposed in this paper. The uncertainties of the converter are analyzed with load variation and power circuit components tolerances are taken into consideration. Additionally, a nominal performance (NP) controller is designed. Closed-loop system is simulated with Orcad and simulation results of r...

An automatic steering controller was installed on a Case-IH Model 7220 tractor. The primary posture sensor was a kinematic differential GPS. Open loop and closed loop frequency response tests were conducted to evaluate the steering controller dynamics. A double integrator transfer function adequately related vehicle lateral deviation to steering angle within the frequency range of 0.04 Hz to 0....

This paper presents H∞ control problem for input-delayed systems. A neutral system approach is considered to the design of PD controller for input delay systems in presence of uncertain time-invariant delay. Using this approach, the resulting closed-loop system turns into a specific time-delay system of neutral type. The significant specification of this neutral system is that its delayed coeff...