Robust control problems in linear systems are considered on the base of analysis of related linear quadratic differential game. New explicit formulae for the "best" robust optimal control input and the "worst" exogenous disturbance derived with the use of pseudo-inverse matrices ) (t D+ were originally suggested in this author's previously published paper "Reduction of Dimensionality in Choosin...

The problem of designing controls for a linear dynamic system under input disturbance is considered. The input disturbance is bounded but the bound information is either deterministic or fuzzy. The control design is purely deterministic. However, the resulting system performance is interpreted differently, depending on the bound information. It may be deterministic or fuzzy (i.e. with a spectru...

Mark W. Spong textbook [13] for background of the robotics application of this technique. The novelty of our result in the present paper lies in the fact that the uncertainty bounds needed to derive the control law and to prove uniform ultimate boundedness of the tracking error depend only on the inertia parameters of the robot. Previous applications of the Leitmann approach to robot manipulato...

We consider the robust optimal control of a law of large numbers approximation of a stochastic network. The robust control problem is formulated as a di®erential game, with one player choosing the policies that determine service and routing assignments, and the other choosing quantities such as the arrival and service rates, subject to constraints. The cost to be minimized by the ̄rst player an...

It is a pleasure to help honor my friends and former colleagues Dale Henderson, Dick Porter, and Peter Tinsley, by discussing Williams' fine paper and the important ongoing research program to which it contributes, all of which is very much in the Henderson-Porter-Tinsley tradition of path-breaking application of optimal control methods to the conduct of monetary policy. The recent robust contr...

In this paper we will show that contouring performance can be viewed as a regulation problem in a curvilinear task coordinate frame that is attached to the desired contour. By transforming the machine tool feed drive dynamics to this task coordinate frame, an adaptive robust control (ARC) law is derived to improve the contouring performance under system parameter variation and bounded disturban...

The purpose of this paper is to present a robust tracking control algorithm for underactuated biped robots capable of self-balancing in the presence of external disturbances. The biped is modeled as a five-link planar robot with four actuators located at hip and knee joints. A sliding mode control law has been developed for the biped to follow a human-like gait trajectory while keeping the tors...

This paper addresses robust frequency control in an islanded ac microgrid (MG). In an islanded MG with renewable sources, load change, wind power fluctuation, and sun irradiation power disturbance as well as dynamical perturbation, such as damping coefficient and inertia constants, can significantly influence the system frequency, and hence the MG frequency control problem faces some new challe...

In this paper, the idea of adaptive robust control (ARC) is integrated with a repetitive control algorithm to construct a performance oriented control law for a class of nonlinear systems in the presence of both repeatable and non-repeatable uncertain nonlinearities. All the uncertainties are assumed to be bounded by certain known bounding functions. The repetitive control algorithm is used to ...

nuclear power reactors are, in nature nonlinear and time varying. these characteristics must be considered, if large power variations occur in their working regime. in this paper a robust optimal gain scheduling controller for regulating the power of a nuclear reactor has been designed and simulated. the proposed controller is capable of regulating power levels in a wide power range (10% to 100...