In this paper a theoretical framework of robust fault-tolerant control (FTC) for a class of nonlinear nonaffine-in-control systems is developed. In the framework, an observer-like auxiliary system is designed via adaptive and sliding mode techniques, which is only required to ensure that the output of the auxiliary system asymptotic tracking plant output. Based on the auxiliary system, a reconf...

Constructive coordinate transformation problem of nonlinear systems into a particular state-affine systems and the analysis of their equivalence, is here tackled. The proposed method is based on the analysis of the Input/Output Differential Equation structure of these nonlinear systems. The polynomial structure of their corresponding state-affine system is then explicitly given and new necessar...

The purpose of this paper is to provide sufficient conditions for asymptotic stabilization in probability of nonlinear control stochastic differential systems by means of smooth state feedback laws. In particular, we prove that, as in the case of stochastic differential systems affine in the control, one can compute stabilizing feedback laws provided the unforced stochastic differential system ...

In this paper, we consider the problem of constructing abstractions of affine control systems that preserve reachability properties, and, in particular, local accessibility. In this framework, showing local accessibility of the higher level, abstracted model is equivalent to showing local accessibility of the, more detailed, lower level model. Given an affine control system and a smooth surject...

Dissipativity and feedback passivity properties in nonlinear multiple-input multiple-output (MIMO) discrete-time systems are examined. Three main results are presented. First, necessary and sufficient conditions for the characterization of a class of dissipative nonlinear MIMO discrete-time systems in general form are proposed. The class of dissipativity treated is referred to as Quadratic Stor...

This paper deals with the optimal control problem for a class of affine nonlinear discrete-time systems. By introducing a sensitivity parameter and expanding the system variables into a Maclaurin series around it, we transform the original optimal control problem for affine nonlinear discrete-time systems into the optimal control problem for a sequence of linear discretetime systems. The optima...

This thesis investigates optimal trajectory tracking of nonlinear dynamical systems with affine controls. The control task is to enforce the system state to follow a prescribed desired trajectory as closely as possible. The concept of so-called exactly realizable trajectories is proposed. For exactly realizable desired trajectories exists a control signal which enforces the state to exactly fol...

Convergence is proven of the value-iteration-based algorithm to find the optimal controller in the case of general non-affine in input nonlinear systems. That is, it is shown that algorithm converges to the optimal control and the optimal value function. It is assumed that at each iteration the value and action update equations can be exactly solved. Then two standard neural networks (NN) are u...