A new robust training law, which is called an input/output-to-state stable training law IOSSTL , is proposed for dynamic neural networks with external disturbance. Based on linear matrix inequality LMI formulation, the IOSSTL is presented to not only guarantee exponential stability but also reduce the effect of an external disturbance. It is shown that the IOSSTL can be obtained by solving the ...

We study systems that are subject to sudden structural changes due to either changes in the operational mode of the system or failure. We consider linear dynamical systems that depend on a modal variable which is either modeled as a finite-state Markov chain or generated by an automaton that is subject to an external disturbance. In the Markov chain case, the objective of the control is to mini...

In this paper, usin a Lyapunov-like function, we derive a disturbance observer based iterative learning control scheme for the trajectory tracking problem of rigid robot manipulator. In this control scheme, the whole control law consists of two parts, the feedback control law, plus an iteratively updated term represents the estimated disturbance. The feedback control law using in this paper is ...

Noise disturbances and time delays are frequently met in cellular genetic regulatory systems. This paper is concerned with the disturbance analysis of a class of genetic regulatory networks described by nonlinear differential equation models. The mechanisms of genetic regulatory networks to amplify (attenuate) external disturbance are explored, and a simple measure of the amplification (attenua...

In this paper we study systems that are subject to sudden structural changes due to either changes in the operational mode of the system or due to failure. We consider linear dynamical that depend on a modal variable which is either modeled as a finite state Markov chain or generated by an automaton that is subject to an external disturbance. In the Markov chain case the objective of the contro...

In some situations, when an external disturbance occurs, humans can rock stably backward and forward by lifting the toe or the heel to keep the upright balance without stepping. Many control schemes have been proposed for standing balance control under external disturbances without stepping. But, in most of them researchers have only considered a flat foot phase. In this paper a framework is pr...

The disturbance accommodating control theory provides a method for designing feedback controllers which automatically detect and minimize the effect of waveform-structured disturbances. This paper presents a disturbance accommodating controller which utilizes a Kalman estimator to determine the necessary corrections to the nominal control input and thus minimizes the adverse effects of model un...

One of the most important challenges in nonlinear, multi-input multi-output (MIMO) and time variant systems (e.g., robot manipulator) is designing a controller with acceptable performance. This paper focused on design a new artificial non linear controller with on line tunable gain applied in the robot manipulator. The sliding mode fuzzy controller (SMFC) was designed as 7 rules Mamdani’s infer...