Lossless systems have many applications in systems and control theory, including signal processing, filter design, system identification, system approximation, and the parameterization of classes of linear systems. In this survey paper we address the issue of parameterization of the space of rational lossless matrix functions by successfully combining two approaches. The first approach proceeds...

For robotic systems tracking a given geometric path, this paper addresses the problem of satisfying input and state constraints. According to a prediction of the evolution of the robot from the current state, a discrete-time device called path governor (PG) generates on line a suitable time-parameterization of the path to be tracked, by solving at fixed intervals a constrained scalar look-ahead...

In this paper we present a method for the optimization of dynamic systems using problem-adapted discretizations. The method is based on the direct sequential or single-shooting approach, where the optimization problem is converted into a nonlinear programming problem by parameterization of the control profiles. A fully adaptive, problem-dependent parameterization is generated by repetitive solu...

In a previous paper [1] an Euler angle parameterization for SU(4) was given. Here we present the derivation of a generalized Euler angle parameterization for SU(N). The formula for the calculation of the Haar measure for SU(N) as well as its relation to Marinov’s volume formula for SU(N) [2,3] will also be derived. As an example of this parameterization’s usefulness, the density matrix paramete...

ph control is a challenging problem due to its highly nonlinear nature. in this paper the performances of two different adaptive global linearizing controllers (glc) are compared. least squares technique has been used for identifying the titration curve. the first controller is a standard glc based on material balances of each species. for implementation of this controller a nonlinear state est...

The modified Smith predictor is well known as an effective time-delay compensator for a plant with large time-delays, and several papers on the modified Smith predictor have been published. The parameterization of all stabilizing modified Smith predictors for multipleinput/multiple-output time-delay plants was obtained by Yamada et al. However, they do not examine the parameterization of all st...

Most of the existing control schemes for walking bipeds are based on the so-called zero-moment point (ZMP) stability condition. Such schemes have three common characteristics: 1) bending at knees thus to avoid singular positions; 2) closed-loop controllers for trajectory tracking at the joints, 3) using higher power actuators, in particular at ankles, to compensate for the rotational motion (fa...

Abstract— In this paper, a computational method for solving constrained nonlinear optimal control problems is presented with an application to the container crane. The method is based on Banks' et al. iterative approach, in which the nonlinear system state equations are replaced by a sequence of time-varying linear systems. Therefore, The constrained nonlinear optimal control problem can be con...

We use the ideas of generalized convexity. We focus our attention on the set of multipliers. We look for an interpretation of multipliers as generalized derivatives of the performance function associated with a dualizing parameterization of the given problem.