摘要:

The concepts of strong observability and strong detectability introduced previously only for those systems without delay are defined and studied for linear systems with delays in state, output and disturbances. An auxiliary system without disturbances plays an important rote in the paper. The results presented are restricted to the case when the unknown disturbances act only on the output of the system considered.

ISSN:0020-7179    

DOI:10.1080/00207178708933795

出版商:Taylor & Francis Group    

年代:1987

数据来源: Taylor

摘要:

It is shown for a LQG regulator that if there exists a constant matrixMsuch that the filter gain Gr=BMand the regulator gain Gr=kMC(k ≥ 1) then the LQ guaranteed minimum stability margins are recovered at both input and output of the plant. It is also shown that if Gr, ≠BMthen the LQ guaranteed margins are recoverable at the output of the plant if necessary.

ISSN:0020-7179    

DOI:10.1080/00207178708933796

出版商:Taylor & Francis Group    

年代:1987

数据来源: Taylor

摘要:

A realization algorithm is presented that determines a generalized state-space representation from a so-called column-pseudoproper right MFD. This algorithm is a generalization of the realization algorithm given by Wolovich and is proved to be controllable in the Rosenbrock sense. Moreover, the dimension of the realization is equal to the determinantal degree of the given right MFD in a generalized sense.

ISSN:0020-7179    

DOI:10.1080/00207178708933797

出版商:Taylor & Francis Group    

年代:1987

数据来源: Taylor

摘要:

In this paper the decoupling problem of the general muitivariable analytic nonlinear system of the form ẋ = ƒ(x, u),y = h(x,u) is discussed, where the state space is a real analytic manifold. Sufficient and necessary conditions for decoupling by state feedback combined with compensation and state feedback only are represented, A sufficient and necessary condition for stable decoupling is also derived. For decouplable systems the synthesis procedure is represented.

ISSN:0020-7179    

DOI:10.1080/00207178708933798

出版商:Taylor & Francis Group    

年代:1987

数据来源: Taylor

摘要:

This paper deals with the influence of switching curve deformation and variations in motion resistance upon the control process of a time-optimal closed-loop system. The cases of both stationary and non-stationary targets are considered. It is shown that the switching-curve inaccuracy and variations in motion resistance can lead to the creation of limit cycles when the target is stationary, or cause instability in the system when the target is not. Some suggestions are made as to practical application.

ISSN:0020-7179    

DOI:10.1080/00207178708933799

出版商:Taylor & Francis Group    

年代:1987

数据来源: Taylor

摘要:

A general relationship is established between the coefficients of a general MFD model and its associated Markov parameters. This result is used to derive necessary and sufficient conditions for the appearance of time delays in general MFD models. These conditions involve dependencies between some coefficients of the MFD models. Finally, it is indicated how these dependencies can possibly be incorporated in equation-error identification techniques retaining the favourable property of linearity in the parameters.

ISSN:0020-7179    

DOI:10.1080/00207178708933800

出版商:Taylor & Francis Group    

年代:1987

数据来源: Taylor

摘要:

We present a simple sliding mode control scheme for robot manipulators that does not rely upon the construction of individually stable discontinuity surfaces, thus greatly reducing the complexity of design. We utilize the structure of the manipulator dynamics and Lyapunov's second method in order to establish a sliding surface on the intersection of the switching surfaces in a direct manner. A simple numerical example accompanies the theoretical development.

ISSN:0020-7179    

DOI:10.1080/00207178708933801

出版商:Taylor & Francis Group    

年代:1987

数据来源: Taylor

摘要:

This paper presents a design methodology for the optimum linear filter and predictor applied to robot sensor signals, as well as a sensitivity analysis of the kalman algorithms for uncertainties in the estimation of signal and noise parameters. Simulation of the filtration and prediction processes was made assuming a first-order spectrum of a pure signal and white measurement noise. Calculations of the algorithm errors, dependent on the accuracy of the signal and noise parameter estimation, were done for various spectra of the signal and for various signal-to-noise ratios. Furthermore, the sensitivity curves of the Kalman filter and predictor are presented. The outlined considerations might be helpful for designers when synthesizing optimum linear digital filters applied to sensor signals. Although that particular procedure has been designed for a robot tactile sensor application, the conclusions are more general, and applications may be found elsewhere.

ISSN:0020-7179    

DOI:10.1080/00207178708933802

出版商:Taylor & Francis Group    

年代:1987

数据来源: Taylor

摘要:

A simple sufficient condition for a general composite system to be proper is derived. Although apparently highly conservative, it produces surprisingly good results with two commonly considered composite systems.

ISSN:0020-7179    

DOI:10.1080/00207178708933803

出版商:Taylor & Francis Group    

年代:1987

数据来源: Taylor

摘要:

In a previous paper, the purely algebraic polynomial approach was used to optimize the discrete-time multivariable stochastic regulator when there is dynamic weighting in the cost function. In this paper, it is shown that the method sometimes leads to unstable results. After analysing the cause, the design method is modified to rectify the situation.

ISSN:0020-7179    

DOI:10.1080/00207178708933804

出版商:Taylor & Francis Group    

年代:1987

数据来源: Taylor