A direct adaptive regulator for nonlinear nonparametric systems with measurement corrupted by noise is proposed. Under reasonable conditions the state of the closed-loop system is adaptively regulated so that it converges to zero as time tends to infinity. An illustrative example, being an affine nonlinear system, with all imposed conditions satisfied is given. The method of proof is based on s...

We announce a new construction of a stabilizing feedback law for nonlinear globally asymptotically controllable (GAC) systems. Given a control affine GAC system, our feedback renders the closed loop system input to state stable with respect to actuator errors and small observation noise. We also announce a variant of our result for fully nonlinear GAC systems.

A generalized non-affine nonlinear power system model is presented for a single machine bus with Static Var Compensator (SVC) or State System (SVS) hybrid Unmanned Aerial Vehicles (UAVs). The constructed by differential algebraic equations on the MATLAB-Simulink platform programming technique of its S-Function. Combining inverse method and Linear Quadratic Regulation (LQR), an optimized SVC con...

Background: Surgery and accurate removal of the brain tumor in the operating room and after opening the scalp is one of the major challenges for neurosurgeons due to the removal of skull pressure and displacement and deformation of the brain tissue. This displacement of the brain changes the location of the tumor relative to the MR image taken preoperatively. Methods: This study, which is done...

In this paper we consider the problem of graceful performance degradation, for affine non-minimum phase nonlinear systems. The method is an optimization based scheme, that gives a constructive way to re-shape on-line the output reference for the post-fault system, and explicitly take into account the actuators and states saturations. The on-line output reference reshaping is associated with an ...

In this paper, a nonlinear acoustic echo cancellation (AEC) system is proposed, whereby 3rd order Volterra filtering is utilized along with a variable step-size Gauss-Seidel pseudo affine projection (VSSGS-PAP) algorithm. In particular, the proposed nonlinear AEC system is developed by considering a double-talk situation with near-end signal variation. Simulation results demonstrate that the pr...

In this paper, we consider the problem of active model discrimination amongst a finite number of affine models with uncontrolled and noise inputs, each representing a different system operating mode that corresponds to a fault type or an attack strategy, or to an unobserved intent of another robot, etc. The active model discrimination problem aims to find optimal separating inputs that guarante...

Abstract— We study the recently introduced notion of outputinput stability, which is a robust variant of the minimumphase property for general smooth nonlinear control systems. This paper develops the theory of output-input stability in the multi-input, multi-output setting. We show that output-input stability is a combination of two system properties, one related to detectability and the other...

A recently suggested general anti-windup (AW) compensation scheme is applied to the nonlinear simulation model of the 1 16 scaled BAe Hawk aircraft model used for wind tunnel experiments. The Hawk is modelled as a nonlinear affine system subject to input constraints and has a primary control system consisting of an inner-loop nonlinear dynamic inversion controller and an outer-loop linear PID c...