摘要:

This paper is concerned with the application of sliding control’ to the regulation of a one-link flexible robot arm, with an arbitrary number of flexible modes. Slidingmode technique is applied to achieve a robust feedback linearization of the highly non-linear dynamic equation of the arm. Pole placement is then used to attain good dynamic response. An example is given to demonstrate the potential of the sliding method. This work serves as a first step towards a practical solution in the feedback control of flexible arms using the sliding technique.

ISSN:0020-7179    

DOI:10.1080/00207178908559755

出版商:Taylor & Francis Group    

年代:1989

数据来源: Taylor

摘要:

An algorithm which permits the reduction of a general polynomial matrix to an equivalent matrix pencil form is described, and a characterization of this equivalence, in a matrix transformation sense, is provided.

ISSN:0020-7179    

DOI:10.1080/00207178908559756

出版商:Taylor & Francis Group    

年代:1989

数据来源: Taylor

摘要:

By employing differential vector spaces, we obtain results for linear systems with constant or varying coefficients and with lumped or distributed parameters which were only known for constant linear systems described by rational transfer matrices. Questions such as the characterization of input and output, input-output equivalence, invertibility, feedback decoupling and realization are investigated.

ISSN:0020-7179    

DOI:10.1080/00207178908559757

出版商:Taylor & Francis Group    

年代:1989

数据来源: Taylor

摘要:

A new state reconstructor for deterministic digital control systems is presented which is ideal in the following sense: if the plant parameters are known exactly, the output of the new state reconstructor will exactly equal the true state of the plant, not just approximate it. Furthermore, this ideal state reconstructor adds no additional states or eigenvalues to the system, nor does it affect the plant equation for the system in any way; it affects only the measurement equation. While there are countless ways of choosing the ideal state reconstructor parameters, two distinct methods are described here. An example is presented which illustrates the procedures for completely designing the ideal state reconstructor using both methods.

ISSN:0020-7179    

DOI:10.1080/00207178908559758

出版商:Taylor & Francis Group    

年代:1989

数据来源: Taylor

摘要:

The design of observers is investigated for the estimation of the descriptor vectorx(t)of descriptor systems of the formEx(t) = Ax(t) + Bu(t), y(t) = Cx(t).Such systems are divided into two categories: non-causal (impulsive) systems and causal (impulse- free) systems. For non-causal systems, an observer of order rank [E] is proposed and termed a full-order observer, since the dynamical order of a descriptor system is regarded as rank [E]. For causal systems, it is shown that the number of independent outputsmdoes not exceed rank [E], and an observer of order (rank [E] —m) is introduced and termed a minimal-order observer. The approach is based on the transformation of the system into particular design coordinates via a singular value decomposition of the matrixE.Illustrative examples are included.

ISSN:0020-7179    

DOI:10.1080/00207178908559759

出版商:Taylor & Francis Group    

年代:1989

数据来源: Taylor

摘要:

The representation of the input-output operator in convolution algebra B(σ0) is obtained for distributed parameter systems described by linear hyperbolic partial differential equations. Three kinds of system are considered depending on the kind of coefficient matrix corresponding to the space variable derivative, and their properties are studied. Necessary and sufficient conditions for stability are obtained in terms of factorization of the transition matrix. The obtained results allow the use of modern algebraic methods for analysis of such systems.

ISSN:0020-7179    

DOI:10.1080/00207178908559760

出版商:Taylor & Francis Group    

年代:1989

数据来源: Taylor

摘要:

A special class of hybrid systems is considered, whose state space is a cross-product space of a euclidean space and a finite-state space. Such models may be used to represent systems subject to known abrupt parameter variations, such as commu- tated networks. They may also be used to approximate some types of time-varying systems. Controllability, observability and stability of hybrid systems are inves- tigated. In particular, a necessary and sufficient algebraic condition, a simple algebraic criterion and a computationally simple algebraic sufficient test for controllability and observability are derived. Moreover, a simple sufficient stability condition is provided.

ISSN:0020-7179    

DOI:10.1080/00207178908559761

出版商:Taylor & Francis Group    

年代:1989

数据来源: Taylor

摘要:

Linear, time-invariant, multi-channel, general proper systems with direct control feedthrough are considered. A polynomial matrix method is presented to derive explicit conditions characterizing the systems which can be made controllable or stabilizable through a single channel by applying non-dynamic decentralized feedback to all other channels. These conditions are then applied to the decen- tralized pole-assignment and stabilization problems for the systems, yielding a complete criterion for determining when the closed-loop spectrum can be freely assigned or stabilized with decentralized control. It can be expected that the results obtained will have direct application to periodic discrete-time control systems.

ISSN:0020-7179    

DOI:10.1080/00207178908559762

出版商:Taylor & Francis Group    

年代:1989

数据来源: Taylor

摘要:

The effects of sampled-data control on linear stochastic systems are considered. A simplified formulation of the continuous-time linear quadratic criterion is presented. The sampled version of this performance function can be obtained by solving just one integral. It is also shown how the explicit value of the criterion can be calculated for an arbitrary controller. Finally, it is demonstrated that the optimization of a continuous-time and a discrete-time criterion sometimes gives a different closed- loop performance.

ISSN:0020-7179    

DOI:10.1080/00207178908559763

出版商:Taylor & Francis Group    

年代:1989

数据来源: Taylor

摘要:

The analytical solution of a general one-dimensional Fokker-Planck equation is obtained based upon Girsanov's transformation. Both the drift and the diffusion coefficients may depend on the state as well as time. An example of application is provided at the end.

ISSN:0020-7179    

DOI:10.1080/00207178908559764

出版商:Taylor & Francis Group    

年代:1989

数据来源: Taylor