摘要:

In this paper, we investigate some effects of errors in the initial conditions as a learning control algorithm is iteratively applied. We show that the pure error term in the learning control law can be positively utilized to improve the system performance, making it robust against varying initial conditions. For better performance in the face of variable initial conditions, we propose a method of ‘iterative learning control with multi-modal input’. In this proposed control method, an input is synthesized based on the state of initial condition. Numerical examples are given to show the effectiveness of the proposed learning control algorithm.

ISSN:0020-7179    

DOI:10.1080/00207179608921632

出版商:Taylor & Francis Group    

年代:1996

数据来源: Taylor

摘要:

Necessary and sufficient conditions for local solvability of the title problem around a given trajectory are obtained. The proposed conditions are less restrictive than those obtained by Lee and Marcus for the problem of immersion a nonlinear system into a linear system via static state feedback. Instrumental in the problem solution is the inversion (structure) algorithm for a discrete-time nonlinear system. The solvability conditions are expressed in terms of the inversion algorithm. Moreover, the construction of both the dynamic state feedback and the immersion map relies on this algorithm. Finally, it is shown that, for locally right-invertible systems, the considered problem, unlike the problem of immersion via static state feedback, is always solvable.

ISSN:0020-7179    

DOI:10.1080/00207179608921633

出版商:Taylor & Francis Group    

年代:1996

数据来源: Taylor

摘要:

This paper summarizes and investigates the relations of a number of bounds for the solutions of the algebraic Riccati and Lyapunov equations that have been reported during the last two decades. Also presented are bounds for the unified Riccati equation using the delta operator and it is shown that some bounds for the continuous and discrete Riccati equations can be unified by them.

ISSN:0020-7179    

DOI:10.1080/00207179608921634

出版商:Taylor & Francis Group    

年代:1996

数据来源: Taylor

摘要:

This paper presents a stability concept of a class of discrete event systems (DESs) using Markov chains. The DESs under consideration are modelled as state machines adopted from Ramadge-Wonham, which represent the hybrid dynamic models of constrained motion systems. By identifying the probability of firing enabled events of the DES,p-convergence is proposed. Some properties ofp-convergence are investigated including the fact thatp-convergence is a generalization of the convergence proposed by Brave and Heymann yet it is less restrictive. The application ofp-convergence is shown for a robotic assembly DES.

ISSN:0020-7179    

DOI:10.1080/00207179608921635

出版商:Taylor & Francis Group    

年代:1996

数据来源: Taylor

摘要:

Worst-case identification using corrupted frequency response measurements is considered in a framework which allows one to consider a variety of rational basis functions; these include Laguerre models, Kautz models and rational wavelets. Conditions are given for model sets to be complete in the disc algebra and examples are given. Explicit error bounds are provided for approximate modelling using specific basis functions.

ISSN:0020-7179    

DOI:10.1080/00207179608921636

出版商:Taylor & Francis Group    

年代:1996

数据来源: Taylor

摘要:

A continuous deadbeat observer estimating a linear combination of the state variables is introduced and applied to the problem of detecting and isolating faults in a linear time-invariant system. The existence conditions for the deadbeat observer are shown to be the same as for the functional Luenberger observer.

ISSN:0020-7179    

DOI:10.1080/00207179608921637

出版商:Taylor & Francis Group    

年代:1996

数据来源: Taylor

摘要:

This paper present a two-Riccati inequality approach for the design of fixed-order H∞suboptimal controllers with an observer-based structure. The two Riccati inequalities are only one-way coupled and can be solved consecutively. The fixed-order controller has the structure of a fixed-order estimator of the state feedback control law in the presence of the worst-case disturbances. It retains the observed-based compensator structure of the full-order central controller of the standard H∞design but adds a fixed-order dynamic and mappings between the full-order and the fixed-order state spaces. In the full-order special case, this controller recovers to the minimal entropy central controller of the standard H∞design.

ISSN:0020-7179    

DOI:10.1080/00207179608921638

出版商:Taylor & Francis Group    

年代:1996

数据来源: Taylor

摘要:

Robustness of the stochastic adaptive systems with unmodelled dynamics and external disturbances is discussed in this paper. An adaptive controller is designed using the ELS algorithm except for the finite switches. It is shown that the closed-loop system is globally stable; both the estimation error and the tracking error approach their minima when the unmodelled dynamics diminish, that is the asymptotically adaptive system operating with the ELS algorithm has a good robustness with respect to unmodelled dynamics and external disturbances.

ISSN:0020-7179    

DOI:10.1080/00207179608921639

出版商:Taylor & Francis Group    

年代:1996

数据来源: Taylor

摘要:

Simple and explicit formulae, in a linear fractional transformation (LFT) form, for all suboptimal and optimal solutions to the discrete-time version of the one-block Nehari problem, are derived under no restrictive conditions imposed on the initial data. Using the so-called ‘signature condition’—a generalized Popov-theory type argument—general solvability conditions in terms of a certain type of discrete-time Kalman-Szego-Popov-Yakubovich system are obtained. For the class of optimal approximations, derived via singular perturbation techniques, the LFT coefficients are all of McMillan degree n - r, where n and r are the McMillan degree and the multiplicity of the largest Hankel singular value of the system to be approximated, respectively. The results also lead directly to a simple numerical algorithm.

ISSN:0020-7179    

DOI:10.1080/00207179608921640

出版商:Taylor & Francis Group    

年代:1996

数据来源: Taylor

摘要:

In a recent publication the Finite Nyquist Theorem and its corollary, the Finite Inclusions Theorem (FIT), were stated and proved. FIT provides a simple condition for a family of polynomials with parameter uncertainty to have all its roots in a given convex region of the complex plane. Since FIT requires knowledge of the family's value set at only finitely many points along the region's boundary, it provides a powerful tool for robust analysis and synthesis of parametrically uncertain systems. In this paper we demonstrate this fact by: (1) employing FIT in robust stability analysis; (2) using FIT in the computation of the weightedH∞norm of a transfer function with parameter uncertainty; and (3) carrying out FIT synthesis for an Automatic Bus Steering problem.

ISSN:0020-7179    

DOI:10.1080/00207179608921641

出版商:Taylor & Francis Group    

年代:1996

数据来源: Taylor