The algebraic Riccati equation with Toeplitz matrices as coefficients.
The boundary crossing theorem and the maximal stability interval.
The control problem : A comment on an article by J. Kučera
The control problem
The design of LQG controller for active suspension based on analytic hierarchy process.
The equivalence of controlled lagrangian and controlled hamiltonian systems
The purpose of this paper is to show that the method of controlled lagrangians and its hamiltonian counterpart (based on the notion of passivity) are equivalent under rather general hypotheses. We study the particular case of simple mechanical control systems (where the underlying lagrangian is kinetic minus potential energy) subject to controls and external forces in some detail. The equivalence makes use of almost Poisson structures (Poisson brackets that may fail to satisfy the Jacobi identity)...
The Equivalence of Controlled Lagrangian and Controlled Hamiltonian Systems
The purpose of this paper is to show that the method of controlled Lagrangians and its Hamiltonian counterpart (based on the notion of passivity) are equivalent under rather general hypotheses. We study the particular case of simple mechanical control systems (where the underlying Lagrangian is kinetic minus potential energy) subject to controls and external forces in some detail. The equivalence makes use of almost Poisson structures (Poisson brackets that may fail to satisfy the Jacobi identity)...
The linear control problem
The role of parameter constraints in EE and OE methods for optimal identification of continuous LTI models
The paper presents two methods used for the identification of Continuous-time Linear Time Invariant (CLTI) systems. In both methods the idea of using modulating functions and a convolution filter is exploited. It enables the proper transformation of a differential equation to an algebraic equation with the same parameters. Possible different normalizations of the model are strictly connected with different parameter constraints which have to be assumed for the nontrivial solution of the optimal...
The stabilization problem on surfaces.
The steady-state impedance operator of a Linear Periodically Time-Varying one-port network and its determination
The main subject of the paper is the description and determination of the impedance operator of a linear periodically timevarying (LPTV) one-port network in the steady-state. If the one-port network parameters and the supply vary periodically with the same period, the network reaches a periodic steady state. However, the sinusoidal supply may induce a nonsinusoidal voltage or current. It is impossible to describe such a phenomenon by means of one complex number. A periodically time-varying one-port...
The tracking and regulation problem for a class of generalized systems
The tracking and regulation problem is considered for a class of generalized systems, in case of exponential reference signals and of disturbance functions. First, the notions of steady-state response and of blocking zero, which are classical for linear time-invariant systems, are given for generalized systems. Then, the tracking and regulation problem is stated and solved for the class of generalized systems under consideration, giving a general design procedure. As a corollary of the effectiveness...
Time optimal control of a second order nonlinear plant
Time-dependent vector stabilization.
Time-optimal control of a certain second-order nonoscillatory system
Tracking and disturbance rejection in a nonlinear control system with time delay
Trajectory tracking control for nonlinear time-delay systems
The reference trajectory tracking problem is considered in this paper and (constructive) sufficient conditions are given for the existence of a causal state feedback solution. The main result is introduced as a byproduct of input-output feedback linearization.
Trajectory tracking for a mobile robot with skid-slip compensation in the Vector-Field-Orientation control system
The article is devoted to a motion control problem for a differentially driven mobile robot in the task of trajectory tracking in the presence of skid-slip effects. The kinematic control concept presented in the paper is the Vector Field Orientation (VFO) feedback approach with a nonlinear feed-forward skid-slip influence compensation scheme. The VFO control law guarantees asymptotic convergence of the position tracking error to zero in spite of the disturbing influence of skid-slip phenomena. The...
Transfer function equivalence of feedback/feedforward compensators
Equivalence of several feedback and/or feedforward compensation schemes in linear systems is investigated. The classes of compensators that are realizable using static or dynamic, state or output feedback are characterized. Stability of the compensated system is studied. Applications to model matching are included.