This paper realized the 2-DOF controller structure for first order with time delay systems. The co-prime factorization is used to design observer based controller K(s), representing one degree of freedom. The problem is based on H∞ norm of mixed sensitivity and aims to achieve stability, robustness and disturbance rejection. Then, the other degree of freedom, prefilter F(s), is formulated as fi...

The problem of robustly stabilising a class of nonlinear systems using an H1 fuzzy observer-based controller is considered. A class of nonlinear systems is approximated by a Takagi–Sugeno fuzzy model. A sufficient condition is derived to ensure the robust stability of the fuzzy observer-based controller with guaranteed H1 disturbance attenuation level. The observer and controller design problem...

A neural network (NN)-based adaptive controller with an observer is proposed for the trajectory tracking of robotic manipulators with unknown dynamics nonlinearities. It is assumed that the robotic manipulator has only joint angle position measurements. A linear observer is used to estimate the robot joint angle velocity, while NNs are employed to further improve the control performance of the ...

In this paper, we propose an observed-based control for the PVTOL aircraft considering that the angular position is not measurable. The control strategy presented here, is robust with respect to observer errors and takes into account constraints imposed by the nonlinear observer. The observer design is based on the assumption that the horizontal position is the only available measure. We presen...

In this paper, we investigate the task-space consensus problem for multiple robotic systems with both the uncertain kinematics and dynamics in the case of existence of constant communication delays. We propose an observer-based adaptive controller to achieve the manipulable consensus without relying on the measurement of task-space velocities, and also formalize the concept of manipulability to...

A new approach for observer-based feedback control of time-delay systems is developed. Timedelays in systems lead to characteristic equations of infinite dimension, making the systems difficult to control with classical control methods. In this paper, a recently developed approach, based on the Lambert W function, is used to address this difficulty by designing an observer-based state feedback ...

A fuzzy fault-tolerant control scheme is proposed for a class of multiple input fuzzy bilinear systems with unmeasurable states. First, a fuzzy detective observer is designed to detect the fault. Based on the developed detective observer, a fuzzy controller is proposed to guarantee the closed-loop system without faults is asymptotically stable. Then, a fuzzy adaptive diagnostic observer is desi...

The paper shows Matlab based interactive tool for noise attenuation motivated filtered PD and disturbance observer based filtered PID controller performance analyses and design. The user can set several control loop parameters (plant model parameters and their uncertainty, measurement noise, controller, filter parameters) and evaluate various performance measures. The comparison with traditiona...

Active thermal control of a reactor for YBa2Cu3O7-x chemical vapor deposition is studied using a nonlinear heat transfer model validated by preliminary component testing. LQR and LQE methods are applied to the linearized model for observer-based control. Convergence rates of the controller and observer are indicated by closed-loop eigenvalues and disturbance rejection is assessed with H2 and H∞...