摘要:

Mossahebet al.(1987) have presented a method for the design of a robust sampled regulator for uncertain systems which ensures the passivity of the controlled system and thereby also ensures its stability. The use of the passivity argument also enables stability to be guaranteed in the face of perturbations to the parameters of the system and/or the controller. The strength of the method lies in the fact that a step response model of the process to be controlled is used, so that design can be carried out based on straightforward experimental procedures. The present work offers several significant enhancements to the results described by Mossahebet al.(1987) which extend the class of systems to which the method can be applied, increase the flexibility of the design process and provide an alternative means of implementing the control law which will usually be more efficient than the original method.

ISSN:0020-7179    

DOI:10.1080/00207179008934081

出版商:Taylor & Francis Group    

年代:1990

数据来源: Taylor

摘要:

Robustness of the optimality of linear quadratic (LQ) optimal regulators is studied. It is shown that under a mild assumption, optimality of LQ regulators is preserved under small perturbations on bothFandGmatrices. This is made possible by allowing modifications on both weighting parametersQandR, and it also extends the existing results where perturbations onFonly are allowed. It is also observed that this modification leads to a possible change in gain margin. A numerical example is discussed in detail to illustrate the results.

ISSN:0020-7179    

DOI:10.1080/00207179008934082

出版商:Taylor & Francis Group    

年代:1990

数据来源: Taylor

摘要:

The state feedbackH∞control problem is considered in this paper. It is shown that under mild conditions this problem can be solved simply by using the conjugation approach proposed by Kimura and Kawatani with some extended treatment to the case thatT3(s)is tall and strictly proper. A partial parametrization of state feedback controllers achieving the prescribed norm bound is obtained. This is an eminent difference from previous work on the state feedbackH∞control problem where only a static feedback control law (the central solution of our result) is provided. Both four block and one block problems are solved in this paper. The results of this paper embrace those of Doyleet al.and Petersen.

ISSN:0020-7179    

DOI:10.1080/00207179008934083

出版商:Taylor & Francis Group    

年代:1990

数据来源: Taylor

摘要:

Control and observation laws are considered for a class of non-linear systems. An algebraic procedure is proposed to design approximate observer-based controllers. This procedure is similar to that used for linear time-invariant systems. The paper is completed by an example based on elastically jointed robots.

ISSN:0020-7179    

DOI:10.1080/00207179008934084

出版商:Taylor & Francis Group    

年代:1990

数据来源: Taylor

摘要:

Based on the Lyapunov theory, a new principle of synthesizing robot tracking control of the ‘resolved acceleration’ type is developed. A general Lyapunov-like tracking concept is used as the basis for the control algorithms derived via two different forms of Lyapunov functions. The main contribution is a result for (robust) tracking end-effector (cartesian) motion which obviates the need to invert the jacobian matrix or otherwise solve for desired joint-space coordinates from the given cartesian-space coordinates. Another advantage of the presented algorithms is that they guarantee tracking with a finite prescribed time.

ISSN:0020-7179    

DOI:10.1080/00207179008934085

出版商:Taylor & Francis Group    

年代:1990

数据来源: Taylor

摘要:

The problem of designing multivariable stabilization controllers that satisfy an optimal condition is considered in this paper. Specifically, it is required to find a robust stabilization controller so that closed-loop stability and asymptotic regulation occur, and also so that a quadratic performance index will be minimized. Necessary and sufficient conditions for a robust optimal output-feedback stabilization are presented. The gradient is considered over a functional defined on matrix spaces. Conditions for an optimal point are derived for this kind of functional. Finally, an algorithm for the robust optimal output-feedback design and an example are given.

ISSN:0020-7179    

DOI:10.1080/00207179008934086

出版商:Taylor & Francis Group    

年代:1990

数据来源: Taylor

摘要:

In this article, the method of ‘extended linearization’ is used for designing stabilizing non-linear proportional-integral (P-I) controllers which regulate to a constant value either the average output voltage or the average input current of PWM controlled DC-to-DC power converters such as the boost, the buck-boost and the Cuk converters, The design is carried out on the basis of the Ziegler-Nichols P-I controller design method applied to a family of linearized transfer function models of converters parametrized by constant operating equilibrium points of the average PWM controlled circuit.

ISSN:0020-7179    

DOI:10.1080/00207179008934087

出版商:Taylor & Francis Group    

年代:1990

数据来源: Taylor

摘要:

In an earlier work, a procedure for squaring downpropersystems by static and dynamic compensators has been developed. The compensators designed there have the following properties: (a) they are asymptotically stable; (b) the additional finite zeros induced by them are assignable to the open left half complex plane; and (c) they preserve the fundamental properties such as stabilizability, detectability, infinite zero structure and minimum phase nature of the original system. The earlier design procedure is extended tonon-strictly propersystems while retaining all the above-mentioned properties.

ISSN:0020-7179    

DOI:10.1080/00207179008934088

出版商:Taylor & Francis Group    

年代:1990

数据来源: Taylor

摘要:

Using a sufficient algebraic stability criterion for polynomials, an algorithm is deduced for the design of dynamic feedback which simultaneously stabilizes a set of single-input systems. The application of this algorithm to the stabilization problem of an aircraft is also presented.

ISSN:0020-7179    

DOI:10.1080/00207179008934089

出版商:Taylor & Francis Group    

年代:1990

数据来源: Taylor

摘要:

Modem adaptive controllers are known to give bounded solutions when the system ‘normalized’ unmodelled effects are bounded by a small constant. This paper studies this unusual characterization of uncertainties. We show it encompasses more classical approaches. We discuss how feedback and by-passing may allow this assumption to be satisfied. We conclude by proposing the notion of almost exactly linearly modelled systems.

ISSN:0020-7179    

DOI:10.1080/00207179008934090

出版商:Taylor & Francis Group    

年代:1990

数据来源: Taylor