This article deals with the regulation of water 6ow in open-channels modelled by Saint-Venant equations. By means of a Riemann invariants approach, we deduce stabilizing control laws for a single horizontal reach without friction. The stability condition is extended to a general class of hyperbolic systems which can describe canal networks with more general topologies. A control law design base...

Starting from states near to a closed set S we want to steer S and to stay always close to S. Unfortunately, open-loop controls are very sensitive to disturbances and can lead to very bad practical results. For that reason, we propose an approach for constructing a discontinuous feedback control law that asymptotically stabilizes the system in a neighborhood of the set S.

then, under mild restrictions on Q, thc resulting feedback system is a "good" system by most classical criteria. An equally significant result is as follows [2 I. Given a feedback control law u = -k'x for the system (I), which is known to yield an asymptotically stable closed-loop system, then a ncccssary and sufficient condition for this control law to bc optimal with respcct to a performance ...

Recent studies on human motor control have been largely innuenced by two important statements: (1) Sensory feedback is too slow to be involved at least in fast motor control actions; (2) Learned internal model of the systems plays an important role in motor control. As a result , the human motor control system is often described as open-loop and particularly as a system inverse. System inverse ...

A time-varying feedback control law including integral action is developed for the control of an underactuated ship. Exponential stability is proved, and experimental results are presented.

This paper characterizes the solution to a finite horizon min-max optimal control problem where the system is linear and discrete-time with control and state constraints, and the cost quadratic; the disturbance is negatively costed, as in the standard H ∞ problem, and is constrained. The cost is minimized over control policies and maximized over disturbance sequences so that the solution yields...

The paper presents the first result on nonholonomic systems enjoying Input to State Stability (ISS) properties. Although it is known that smooth stabilizability implies ISS, the converse is not generally true. This leaves the possibility of non smoothly stabilizable systems being ISS with respect to a particular input, after an appropriate feedback transformation. This is shown to be true for t...

In this paper, we address the tracking problem for an underactuated ship using two controls, namely surge force and yaw moment. A simple state-feedback control law is developed and proved to render the tracking error dynamics globally -exponentially stable. Experimental results are presented where the controller is implemented on a scale model of an offshore supply vessel.

Guaranteed performance control is considered in this paper for discretetime LQG problems by minimizing the probability that the performance index is over a preselected threshold. It is proven that this guaranteed performance control problem can be converted into a mean-variance control problem which can be solved by using an embedding scheme. An optimal open-loop feedback control law is derived...

The problem of global robust exponential stabilization of nonholonomic chained systems is addressed and solved by means of a hybrid state feedback control law. It is shown that the control law yields global exponential stability and global robustness against a class of small measurement errors, actuator noises and exogenous disturbances.