This paper presents a novel approach for developing tracking controllers for nonlinear systems. The approach involves the numerical solution, by Galerkin approximation , of the time-varying Hamilton-Jacobi-Bellman (HJB) equation and results in a nonlinear controller approximating the optimal tracking control law for a spec-iied desired trajectory and cost function. Experimental results are pres...

It is difficult to control the movement of the robot arm due to its nonlinear structure. PID controller is still in the world because of its simplicity in designing this controller as the main controller. The nonlinear control technique is very complicated, and this is not very interesting in the controller. While fuzzy control has a better performance, it incorporates a fuzzy control with ...

This paper presents an approach for the optimal design of a new retrofi t technique called weakening and damping that is valid for civil engineering inelastic structures. An alternative design methodology is developed with respect to the existing ones that is able to determine the locations and the magnitude of weakening and/or softening of structural elements and adding damping while insuring ...

in this paper, an integration of improve particle swarm optimization (ipso) incombination with successive quadratic programming (sqp) so called ipso-sqpalgorithm is proposed to solve time optimal bang-bang control problems. theprocedure is found not sensitive to the initial guess of the solution. due to randomselection in the first stage of the search process, the chance of converging to theglo...

in this paper, we present a new method to determine the optimal location and parameter settings of unifiedpower flow controller (upfc) for removing voltage violations and transmission lines overloading. upfc isconsidered as the most powerful member of the facts devices, that it can control shunt and series power flow.this option gives to upfc the power to control the voltage profile and transmi...

This paper presents the design of optimal controller for nonlinear Rotary Inverted Pendulum (RIP) dynamic system using Linear Quadratic Regulator (LQR). LQR, an optimal control technique is generally used for control of the linear dynamical systems, have been used in this paper to control the non linear dynamical system. The non linear system states are fed to LQR which is designed using linear...

The paper proposes a novel iterative control scheme based on neural networks for optimally controlling a large class of nonlinear discrete-time systems affected by an unknown time variant delay and system uncertainties. An iterative Dual Heuristic dynamic Programming (DHP) algorithm has been envisaged to design the controller which is proven to converge to the optimal one. The key elements requ...

In order to improve the contouring accuracy of a biaxial servomechanism and the robustness against disturbance, a cross-coupled controller with a disturbance observer is studied, as well as the optimal tuning based on the integrated design methodology is proposed. Strict mathematical modeling and identification process of a servomechanism are performed first. An optimal tuning problem is formul...

In this paper, we consider a class of nonlinear regulator optimal control problems with an infinite planning horizon. By assuming a specific feedback structure for the controller, the resultant regular problem is reduced to an optimal parameter selection problem. Since the reduced problem is on an infinite planning horizon, we construct a sequence of finite time optimal parameter selection prob...

This paper considers a new class of discrete time stochastic uncertain systems in which the uncertainty is described by a constraint on the relative entropy between a nominal noise distribution and the perturbed noise distribution. This uncertainty description is a natural extension to the case of stochastic uncertain systems, of the sum quadratic constraint uncertainty description. The paper s...