摘要:

Design procedures based on exact eigenstructure assignment are not suitable because of very high computational requirements. A computation-effective control design procedure for eigenstructure assignment using aggregation is presented. Dominant eigenvalues are placed at specified locations in the complex plane and the non-dominant eigenvalues are placed in a specified disk. The proposed design procedure is applied to the trajectory tracking problem of a robot manipulator. An error-pattern based payload estimation and compensation scheme is also proposed to improve performance robustness.

ISSN:0020-7721    

DOI:10.1080/00207729308949540

出版商:Taylor & Francis Group    

年代:1993

数据来源: Taylor

摘要:

A method of actuator/ sensor location is presented. The state space representation obtained has assigned controllability and observability properties. The assignability conditions are defined, and algorithms for determining sensor and/or actuator locations are derived. The results are specified for systems with properties of flexible structures.

ISSN:0020-7721    

DOI:10.1080/00207729308949541

出版商:Taylor & Francis Group    

年代:1993

数据来源: Taylor

摘要:

The main objective of this paper is to determine positively invariant and asymptotically stable polyhedral sets for a linear continuous-time system ẋ(t) =Ax(t) for which matrixe1Ais a cone-preserving matrix, that is,e1AK⊂K, for some proper coneK. Necessary and sufficient conditions guaranteeing that some bounded sets are positively invariant and contractive are given. These sets are obtained by means of the intersection of shifted cones. First, some results presented under a geometrical form and also in algebraic form allow characterization of systems having the cone-preserving property. Finally, as an application, the proposed results are used to determine a stability domain for a state feedback regulator with constraints on either or both states and controls.

ISSN:0020-7721    

DOI:10.1080/00207729308949542

出版商:Taylor & Francis Group    

年代:1993

数据来源: Taylor

摘要:

The identification of block orientated systems is discussed. Particular attention is devoted to memoryless and dynamic systems with cascade structure. An optimal model of a memoryless cascade system is derived and estimated by kernel regression. Nonlinear dynamic systems of the Hammerstein and Wiener type are identified by means of non-parametric techniques. Convergence of the identification procedures is investigated.

ISSN:0020-7721    

DOI:10.1080/00207729308949543

出版商:Taylor & Francis Group    

年代:1993

数据来源: Taylor

摘要:

The robust stability criteria for linear uncertain time-delay systems via a feedback controller, a dynamic controller and, an observer controller, respectively, are introduced. The results obtained can be used to estimate the size of the delay time. The algorithms for finding controller matrices are provided as well. The results are demonstrated by illustrative examples.

ISSN:0020-7721    

DOI:10.1080/00207729308949544

出版商:Taylor & Francis Group    

年代:1993

数据来源: Taylor

摘要:

This paper presents a new solution to the problem of eigenstructure assignment in linear multivariable systems with incomplete state observation. A simple procedure for defining an assignable set of right eigenvectors for a prescribed eigenvalue set is presented. The effectiveness of the method is demonstrated by designing controllers to assign different combinations of eigenvalue types in a fourth order system having three outputs and two inputs.

ISSN:0020-7721    

DOI:10.1080/00207729308949545

出版商:Taylor & Francis Group    

年代:1993

数据来源: Taylor

摘要:

The regulation control problem is considered for a large-scale system in the presence of interconnected terms, system parameter variations and external disturbances. Based on the technique of parameter estimations and the theory of variable-structure systems, this paper presents a new and feasible design algorithm for the synthesis of a decentralized variable-structure adaptive controller which can easily tackle the control problem of large-scale systems subjected to interconnected terms, system parameter variations and bounded disturbances. In contrast to previous results, the restrictive condition that the exact value of the parameter describing the input gain must be known can be relaxed. A series of computer simulations are also included to illustrate the proposed design algorithm.

ISSN:0020-7721    

DOI:10.1080/00207729308949546

出版商:Taylor & Francis Group    

年代:1993

数据来源: Taylor

摘要:

Kolmogorov-Levy-Mandelbrot (t−s)2a-fractional Brownian motion (FBM) appears to be quite relevant for modelling long range memory stochastic systems, and the problem of defining stochastic differential equations subject to such a noise is considered. The Liouville fractional derivative and the self-similarity property of FBM are recalled and then, via detailed calculation, the main statistical characteristics of FBM are derived. First-order stochastic differential equations with FBM are considered via path integrals and a corresponding mean squares approach to non-linear filtering is described. Lastly, a new modelling via stochastic differential equations of fractional order is suggested.

ISSN:0020-7721    

DOI:10.1080/00207729308949547

出版商:Taylor & Francis Group    

年代:1993

数据来源: Taylor

摘要:

The controllability grammian is important in many control applications. Given a set of closed-loop eigenvalues the corresponding controllability grammian can be obtained by computing the controller which assigns the eigenvalues and then by solving the Lyapunov equation that defines the grammian. The relationship between the controllability grammian, resulting from state feedback, and the closed-loop eigenvalues of a single input linear time invariant (LTI) system is obtained. The proposed methodology does not require the computation of the controller that assigns the specified eigenvalues. The closed-loop system matrix is obtained from the knowledge of the open-loop system matrix, control influence matrix and the specified closed-loop eigenvalues. Knowing the closed-loop system matrix, the grammian is then obtained from the solution of the Lyapunov equation that defines it. Finally the proposed idea is extended to find the state covariance matrix for a specified set of closed-loop eigenvalues (without computing the controller), due to impulsive input in the disturbance channel and to solve the eigenvalue assignment problem for the single input case.

ISSN:0020-7721    

DOI:10.1080/00207729308949548

出版商:Taylor & Francis Group    

年代:1993

数据来源: Taylor

摘要:

A new approach is presented in the study of the linear-quadratic control problem of singularly perturbed discrete systems with a prescribed degree of stability. All the poles of the resulting closed-loop system are constrained to lie in a circle with the radius of 1/α. By applying a bilinear transformation, near-optimum controller design is presented in terms of continuous reduced-order problems. The stiffness problem due to the singularly perturbed system is eliminated. The method is very suitable for parallel programming. A numerical example demonstrates the efficiency of the proposed method.

ISSN:0020-7721    

DOI:10.1080/00207729308949549

出版商:Taylor & Francis Group    

年代:1993

数据来源: Taylor