Drawing inspiration from the theory of linear “decomposable systems”, we provide a method, based on linear matrix inequalities (LMIs), which makes it possible to prove the convergence (or consensus) of a set of interacting agents with polynomial dynamic. We also show that the use of a generalised version of the famous Kalman-Yakubovic-Popov lemma allows the development of an LMI test whose size...

In this paper, the problem of trajectory tracking for a four wheeled omnidirectional robot is solved in the inertial fixed coordinate system. The solution relies on a reference model approach, where the resulting nonlinear error model is brought to a quasi-Linear Parameter Varying (LPV) form suitable for designing an LPV controller using Linear Matrix Inequalities (LMI)-based techniques. In par...

In this paper, the simultaneous stabilization problem is considered using the matrix inequality approach. Some necessary and sufficient conditions for simultaneous stabilizability of r strictly proper multi-input/multi-output (MIMO) plants via static output feedback and state feedback are obtained in the form of coupled ARI’s. It is shown that any such stabilizing feedback gain is the solution ...

This paper presents an overview of a linear matrix inequality (LMI) approach to the multiobjective synthesis of linear output-feedback controllers. The design objectives can be a mix of H1 performance, H2 performance, passivity, asymptotic disturbance rejection, time-domain constraints, and constraints on the closed-loop pole location. In addition, these objectives can be specified on different...

For polytopic time singular system with inputs constraints, the paper addresses a robust predictive control law using linear matrix inequality (LMI). A piecewise constant control sequence is calculated by minimizing the worst-case linear quadratic objective function. At each sample time, the sufficient conditions on the existence of the model predictive controllers are derived and expressed as ...

A new observer design method is proposed for Takagi-Sugeno systems with immeasurable premise variables. Since the state estimation error can be written as a perturbed system, then the proposed method is based on the L2 techniques to minimize the effect of the perturbations on the state estimation error. The convergence conditions of the observer are established by using the second method of Lya...

Thispaper considers robust H: controlproblem of continuous-time systems with time-varying normbounded uncertainties. A necessary and suflcient condition for the analysis of robust H, control is derived in the form of linear matrix inequalities (LMI). Using the analysis result, a state feedback confroller and a dynamic output feedback controller are designed respectively so that the closed-loop ...

This paper deals with designing H1 lters of reduced order for two dimensional (2-D) continuous systems described by Roesser models, with uncertain state space matrices. These lters are characterized in terms of linear matrix inequalities (LMI), to minimize a bound on the H1 noise attenuation, by using homogeneous polynomially parameter-dependent matrices of arbitrary degree. The methodology is ...

This paper presents a new control scheme for the design of damping controllers for power systems. The scheme is based on the combination of two powerful control design techniques, namely the Linear Matrix Inequalities (LMI) techniques and the Direct Feedback Linearization (DFL). It is shown that the DFL can cancel nonlinearities in the power system model, thus reducing the uncertainty in the LM...