This paper studies output feedback control of pure-feedback systems with immeasurable states and completely non-affine property. Since availability of all the states is usually impossible in the actual process, we assume that just the system output is measurable and the system states are not available. First, to estimate the immeasurable states a state observer is designed. Relatively fewer res...

singular perturbation problems have been studied by many mathematicians. since the approximate solutions of these problems are as the sum of internal solution (boundary layer area) and external ones, the formation or non-formation of boundary layers should be specified. this paper, investigates this issue for a singular perturbation problem including a first order differential equation with gen...

In this paper robust PID control of fully-constrained cable driven parallel manipulators with elastic cables is studied in detail. In dynamic analysis, it is assumed that the dominant dynamics of cable can be approximated by linear axial spring. To develop the idea of control for cable robots with elastic cables, a robust PID control for cable driven robots with ideal rigid cables is firstly de...

consider an n × n matrix polynomial p(λ). a spectral norm distance from p(λ) to the set of n × n matrix polynomials that havea given scalar µ ∈ c as a multiple eigenvalue was introducedand obtained by papathanasiou and psarrakos. they computedlower and upper bounds for this distance, constructing an associated perturbation of p(λ). in this paper, we extend this resultto the case of two given di...