This paper proposes a discrete-time repetitive optimal control of electrically driven robotic manipulators using an uncertainty estimator. The proposed control method can be used for performing repetitive motion, which covers many industrial applications of robotic manipulators. This kind of control law is in the class of torque-based control in which the joint torques are generated by permanen...

Game theory is playing more and important roles in understanding complex systems investigating intelligent machines with various uncertainties. As a starting point, we consider the classical two-player zero-sum linear-quadratic stochastic differential games, but contrast to most of existing studies, coefficient matrices are assumed be unknown both players, consequently it necessary study adapti...

in this paper we consider the solutions of linear systems of saddle point problems‎. ‎by using the spectrum of a quadratic matrix polynomial‎, ‎we study the eigenvalues of the iterative matrix of the hermitian and skew hermitian splitting method‎.

The number of simultaneous solutions of a quadratic and a linear congruence does not seem to be discussed in the literature, yet a knowledge of the invariants necessary to specify this number should lead to an arithmetical classification of the form-pairs involved. This preliminary investigation is confined to congruences with modulus odd and prime to the g.c.d.'s of the two sets of coefficient...

In previous lectures, we discussed the design of state feedback controllers using using eigenvalue (pole) placement algorithms. For single input systems, given a set of desired eigenvalues, the feedback gain to achieve this is unique (as long as the system is controllable). For multi-input systems, the feedback gain is not unique, so there is additional design freedom. How does one utilize this...

in this paper the active vibration control of a four-story shear frame instrumented with piezoelectric actuators is presented. the piezoelectric actuators are hosted on the columns in two manners and the produced controlling forces by actuators are considered in the equation of motion. the smart structure modeling and control design is carried out using matlab software in state space form. subs...

This paper discusses an Interval Quadratic Programming (IQP) problem, where the constraints coefficients and the right-hand sides are represented by interval data. First, the focus is on a common method for solving Interval Linear Programming problem. Then the idea is extended to the IQP problem. Based on this method each IQP problem is reduced to two classical Quadratic Programming (QP) proble...