Generic observability of dynamical systems.
Generic properties of linear control systems depending on a parameter
Genericity of observability and the existence of asymptotic observers
In this paper, we deal with the genericity of the observability property and the existence of asymptotic observers for nonlinear systems. In the case where the number of outputs is larger than the number of inputs and the state space is compact, we prove that observability in a very strong sense (more or less, observability for each sufficiently differentiable input) is generic. This is obtained by using standard (but not easy) transversality arguments. For the inputs that are bounded with their...
Genericity of observability of control-affine systems
Genericity of observability of control-affine systems
For smooth or real-analytic single-input, control-affine, non-linear systems, with at least two ouputs, observability for any input of a given class is generic. This class can be either the class of inputs bounded with their derivatives up to a certain order, or the class of polynomial inputs with bounded degree.
Generování spojitých náhodných procesů
Genetic algorithm based method of elimination of residual oscillation in mechatronic systems
The paper presents control signals generation methods, preventing the excitation of residual vibration in slightly damped oscillational systems. It is focused on the feedforward methods, as most of the vibrations in examined processes are induced by the control, while the influence of disturbances is mostly negligible. Application of these methods involves ensuring of the insensitivity to natural frequency change, which can be reached in classical approach only by considerable increase of transient...
Genetic and combinatorial algorithms for optimal sizing and placement of active power filters
The paper deals with cost effective compensator placement and sizing. It becomes one of the most important problems in contemporary electrical networks, in which voltage and current waveform distortions increase year-by-year reaching or even exceeding limit values. The suppression of distortions could be carried out by means of three types of compensators, i.e., passive filters, active power filters and hybrid filters. So far, passive filters have been more popular mainly because of economic reasons,...
Geometric control approach to synthesis theory.
Geometric methods in linearization of control systems
Geometric methods in the theory of singular 2-D linear systems
Geometric structures of stable output feedback systems
In this paper, we investigate the geometric structures of the stable time-varying and the stable static output feedback systems. Firstly, we give a parametrization of stabilizing time-varying output feedback gains subject to certain constraints, that is, the subset of stabilizing time-varying output feedback gains is diffeomorphic to the Cartesian product of the set of time-varying positive definite matrices and the set of time-varying skew symmetric matrices satisfying certain algebraic conditions....
Geometrical aspects of exact boundary controllability for the wave equation. A numerical study
Geometrical aspects of exact boundary controllability for the wave equation - a numerical study
This essentially numerical study, sets out to investigate various geometrical properties of exact boundary controllability of the wave equation when the control is applied on a part of the boundary. Relationships between the geometry of the domain, the geometry of the controlled boundary, the time needed to control and the energy of the control are dealt with. A new norm of the control and an energetic cost factor are introduced. These quantities enable a detailed appraisal of the numerical solutions...
Geometrical characterization of observability in Interpreted Petri Nets
This work is concerned with observability in Discrete Event Systems (DES) modeled by Interpreted Petri Nets (IPN). Three major contributions are presented. First, a novel geometric characterization of observability based on input-output equivalence relations on the marking sequences sets is presented. Later, to show that this characterization is well posed, it is applied to linear continuous systems, leading to classical characterizations of observability for continuous systems. Finally, this paper...
Geometry of non-holonomic diffusion
We study stochastically perturbed non-holonomic systems from a geometric point of view. In this setting, it turns out that the probabilistic properties of the perturbed system are intimately linked to the geometry of the constraint distribution. For -Chaplygin systems, this yields a stochastic criterion for the existence of a smooth preserved measure. As an application of our results we consider the motion planning problem for the noisy two-wheeled robot and the noisy snakeboard.
Getting a suitable terminal cost and maximizing the terminal region for MPC.
Global adaptive output-feedback control for switched uncertain nonlinear systems
In this paper, we investigate the problem of global output-feedback regulation for a class of switched nonlinear systems with unknown linear growth condition and uncertain output function. Based on the backstepping method, an adaptive output-feedback controller is designed to guarantee that the state of the switched nonlinear system can be globally regulated to the origin while maintaining global boundedness of the resulting closed-loop switched system under arbitrary switchings. A numerical example...
Global asymptotic stabilisation of an active mass damper for a flexible beam
In this paper, a finite dimensional approximated model of a mechanical system constituted by a vertical heavy flexible beam with lumped masses placed along the beam and a mobile mass located at the tip, is proposed; such a model is parametric in the approximation order, so that a prescribed accuracy in the representation of the actual system can be easily obtained with the proposed model. The system itself can be understood as a simple representation of a building subject to transverse vibrations,...
Global asymptotic stability of a passive juggling strategy: A possible parts-feeding method.