In this paper, we propose a design method for a robust adaptive output feedback control system for uncertain MIMO nonlinear systems with a higher order relative degree and an uncertain controlled system order. By using a virtual input filter method, this method allows an adaptive output feedback control of MIMO nonlinear systems without constructing a state observer in the controller. Copyright...

This paper describes the design of an interval observer for the estimation of unmeasured quality state variables in drinking water distribution systems. The estimator utilizes a set bounded model of uncertainty to produce robust interval bounds on the estimated state variables of the water quality. The bounds are generated by solving two differential equations. Hence the numerical efficiency is...

This work studies the problem of fault estimation using a fast adaptive fault diagnosis observer. The estimator bloc considered for this purpose is an Unknown Input Observer (UIO) which is subsequently used for a robust fault detection scheme and also as an adaptive detection design for an additive actuator fault. Stability of the adaptive estimation is provided by a Lyapunov function ending wi...

This paper addresses the estimation problem of the states and their derivatives for time-delay control (TDC), a robust control technique for nonlinear systems. To this end, an observer design method is presented. In addition, the sufficient conditions are discussed and implementation issues are addressed. Finally, experiments were undertaken on a SCARA-type robot subject to substantial inertia ...

This paper advocates disturbance observer based control (DOBC) for uncertain nonlinear systems. Within this framework, a nonlinear controller is designed based on the nominal model in the absence of disturbance and uncertainty where the main design specifications are to stabilize the system and achieve good tracking performance. Then a nonlinear disturbance observer is designed to not only esti...

A Modular Multilevel Converter (MMC) is an attractive solution for power conversion without transformers. As MMC consists of cascade connections and floating dc capacitors, it requires continuous voltage monitoring. An adaptive observer design has been presented to estimate the capacitor voltages from the measurement of arm currents. This work introduces a capacitance value of the cell capacito...

This paper deals with force-reflecting control design for teleoperation of bilateral robots under unknown constant time delay. The proposed impedance teleoperator control is based on integral sliding mode approaches, avoiding undesirable chattering effect. With the aim of implementing the proposed controller and taking into account that only position measurement is available, a Nonlinear Observ...

This paper describes a method for designing sliding mode observers for detection and reconstruction of faults, that is robust against system uncertainty. The method uses H∞ concepts to design the observer, minimising the effect of the uncertainty on the reconstruction of the faults. A VTOL aircraft example taken from the fault detection literature is used to demonstrate the method and its effec...

The problem of robust output-feedback control for a class of uncertain switching fuzzy control systems is investigated. Asymptotic stability of the observer, based on the error equation, is obtained by using the switching technique and the common Lyapunov function method. Switching laws are also designed via using single Lyapunov function method for observer equation such that the closed-loop s...