This paper proposes a robust H-infinity control design of a single unit differential type Wheeled Mobile Robot. Mobile robots are non holonomic systems as their constraint equations are not integrable. Considering the constraints and combining the kinematics and dynamics of the system, a linearized model is obtained. Taking into account the exogenous inputs in the form of model uncertainties an...

Fractional delay filters are digital filters to delay discrete-time signals by a fraction of the sampling period. Since the delay is fractional, the intersample behavior of the original analog signal becomes crucial. In contrast to the conventional designs based on the Shannon sampling theorem with the bandlimiting hypothesis, the present paper proposes a new approach based on the modern sample...

In control of vibrations, diffusion and many other problems governed by partial differential equations, there is freedom in the choice of actuator location. The actuator location should be chosen to optimize performance objectives. In this paper, we consider H∞ performance with state-feedback. It is shown that the corresponding optimal actuator problem is wellposed. In practice, approximations ...

A discrete-time signal estimator for systems subject to both white noise and bounded-power disturbance signals is developed. Sufficient and necessary conditions for the robust optimal filter are proved and the resulting filter gain is characterized by a set of two cross-coupled Riccati equations.

We give two proofs of a conjecture of Neumann [N1] that a reduced algebraic plane curve is regular at infinity if and only if its link at infinity is a regular toral link. This conjecture has also been proved by Ha H. V. [H] using Lojasiewicz numbers at infinity. Our first proof uses the polar invariant and the second proof uses linear systems of plane curve singularities. The second approach a...