This paper presents an elegant method for controlling nonlinear systems by modeling them in terms of a Takagi-Sugeno(T-S) fuzzy model. The concept of network inversion is used to design the controller for such a system. The proposed controller is shown to make the closed loop system stable in the sense of Lyapunov. The existing controller design techniques for T-S fuzzy model, like LMI techniqu...

This paper explores the applicability of a Linear Quadratic Regulator (LQR) controller design to the problem of bipedal stance on the Minitaur [1] quadrupedal robot. Balancing the body on only the rear legs affords the possibility of using the front legs for other tasks such as manipulation or bracing. Restricted to the sagittal plane, this behavior exposes a 3DOF (degree of freedom) double inv...

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∞...

This paper considers solving optimization problem for linear discrete time systems such that closed-loop discrete-time system is positive (i.e., all of its state variables have non-negative values) and also finite-time stable. For this purpose, by considering a quadratic cost function, an optimal controller is designed such that in addition to minimizing the cost function, the positivity proper...

This paper presents an intelligent model, named as free model, approach for a closed-loop system identification using input and output data and its application to design a power system stabilizer (PSS). The free model concept is introduced as an alternative intelligent system technique to design a controller for such dynamic system, which is complex, difficult to know, or unknown, with input an...

This work presents a control scheme to grid-connected single-phase photovoltaic (PV) system. The considered system has four 250 W solar panels, non-inverting buck-boost DC-DC converter, and DC-AC inverter with an inductor-capacitor-inductor (LCL) filter. aims track operate at the maximum power point (MPP) of PV regulate voltage DC link, supply grid unity factor. To achieve these goals, proposed...

Parrot Mambo mini-drone is a readily available commercial quadrotor platform to understand and analyze the behavior of both in indoor outdoor applications. This study evaluates performance three alternative controllers on an interior environment, including Proportional–Integral–Derivative (PID), Linear Quadratic Regulator (LQR), Model Predictive Control (MPC). To investigate controllers’ perfor...

This article introduces a novel distributed controller approach for networked control systems (NCS) to achieve finite gain L2 stability independent of constant time delay. The distributed controller is alternatively interpreted as a linear transformation of the inputoutput space of the controller and the plant, and in fact represents a generalization of the well-known scattering transformation....

In the present work, implementation of continuous-time high frequency periodic controller is done for stabilization of non-minimum phase system having both right half plane (RHP) pole and zero. This work considers nonminimum phase cart-inverted pendulum system as a test bench. The robustness property of the periodic controller is compared with that of a linear quadratic regulator (LQR) and slid...

A wheel slip controller is developed and experimentally tested in a car equipped with electromechanical brake actuators and a brake-by-wire ABS system. A gain scheduling approach is taken, where the vehicle speed is viewed as a slowly time-varying parameter and the model is linearized about the nominal wheel slip. Gain matrices for the different operating conditions are designed using an LQR ap...