Abstract: In this study, a dynamic surface controller based on a nonlinear disturbance observer is investigated to control mobile wheeled inverted pendulum system. By using a coordinate transformation, the underactuated system is presented as a semi-strict feedback form which is convenient for controller design. A dynamic surface controller together with a nonlinear disturbance observer is desi...

In this paper, control of a non-isothermal continuous stirred tank reactor in which two parallel autocatalytic reactions take place has been addressed. The reactor shows chaotic behavior for a certain set of reactor parameters. In order to control the product concentration, an optimal state feedback controller has been designed. Since concentrations of reactor species are ...

In this study, an observer-based tracking controller is proposed and evaluatedexperimentally to solve the trajectory tracking problem of robotic manipulators with the torque saturationin the presence of model uncertainties and external disturbances. In comparison with the state-of-the-artobserver-based controllers in the literature, this paper introduces a saturated observer-based controllerbas...

In this paper, a novel peak observer based adaptive multi-input multi-output (MIMO) fuzzy proportional-integral-derivative (PID) controller has been introduced for MIMO time delay systems. The adaptation mechanism proposed by Qiao and Mizumoto [1] single-input single-output (SISO) systems enhanced system control. tracking, stabilization disturbance rejection performances of the have evaluated c...

Supposing that the sensor and controller nodes were time-driven and the actuator node was event-driven, the problem of integrity against sensor failures for the networked control systems with short output delay and short control delay was discussed based on observer. The state observer of the system according to the time-delay compensation strategy was designed. Then, considering possible senso...

Abstract: This paper is to develop an optimal electro-hydraulic dual-shaking table system with high waveform replication precision. The parameters of hydraulic cylinders, servo valves, hydraulic supply power and gravity balance system are designed and optimized in detail. To improve synchronization and tracking control precision, a hybrid control strategy is proposed. The cross-coupled control ...

This paper presents a new optimized decentralized controller designmethod for solving the tracking and disturbance rejection problems for large-scale linear time-invariant systems, using only low-order decentralized controllers. To illustrate the type of results which can be obtained using the new optimized decentralized control design method, the control of a large flexible space structure is ...