Tracking performance of ‘’ integral-plus-time constant plants with ’one’ controller
Tracking through singularities using sliding mode differentiators
In this work, an alternative solution to the tracking problem for a SISO nonlinear dynamical system exhibiting points of singularity is given. An inversion-based controller is synthesized using the Fliess generalized observability canonical form associated to the system. This form depends on the input and its derivatives. For this purpose, a robust exact differentiator is used for estimating the control derivatives signals with the aim of defining a control law depending on such control derivative...
Tracking with prescribed transient behaviour
Universal tracking control is investigated in the context of a class of -input, -output dynamical systems modelled by functional differential equations. The class encompasses a wide variety of nonlinear and infinite-dimensional systems and contains – as a prototype subclass – all finite-dimensional linear single-input single-output minimum-phase systems with positive high-frequency gain. The control objective is to ensure that, for an arbitrary -valued reference signal of class (absolutely...
Tracking with prescribed transient behaviour
Universal tracking control is investigated in the context of a class S of M-input, M-output dynamical systems modelled by functional differential equations. The class encompasses a wide variety of nonlinear and infinite-dimensional systems and contains – as a prototype subclass – all finite-dimensional linear single-input single-output minimum-phase systems with positive high-frequency gain. The control objective is to ensure that, for an arbitrary -valued reference signal r of class W1,∞ (absolutely...
Trajectory sensitivity method and master-slave synchronization to estimate parameters of nonlinear systems.
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.
Transfer function computation for 3-D discrete systems
A theoretically attractive and computationally fast algorithm is presented for the determination of the coefficients of the determinantal polynomial and the coefficients of the adjoint polynomial matrix of a given three-dimensional (3–D) state space model of Fornasini–Marchesini type. The algorithm uses the discrete Fourier transform (DFT) and can be easily implemented on a digital computer.
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.
Transformation of nonlinear state equations into the observer form: Necessary and sufficient conditions in terms of one-forms
Necessary and sufficient conditions are given for the existence of state and output transformations, that bring single-input single-output nonlinear state equations into the observer form. The conditions are formulated in terms of differential one-forms, associated with an input-output equation of the system. An algorithm for transformation of the state equations into the observer form is presented and illustrated by an example.
Transformation of optimal control problems of descriptor systems into problems with state-space systems
We show how we can transform the and control problems of descriptor systems with invariant zeros on the extended imaginary into problems with state-space systems without such zeros. Then we present necessary and sufficient conditions for existence of solutions of the original problems. Numerical algorithm for control is given, based on the Nevanlinna-Pick theorem. Also, we present an explicit formula for the optimal controller.
Transputer implementation of block regularized filtering
Two observer-based tracking algorithms for a unicycle mobile robot
A trajectory tracking problem for the three-dimensional kinematic model of a unicycle-type mobile robot is considered. It is assumed that only two of the tracking error coordinates are measurable. By means of cascaded systems theory we develop observers for each of the error coordinates and show the K-exponential convergence of the tracking error in combined closed-loop observer-controller systems. The results are illustrated with computer simulations.
Unbiased group-wise alignment by iterative central tendency estimations
This paper introduces a new approach for the joint alignment of a large collection of segmented images into the same system of coordinates while estimating at the same time an optimal common coordinate system. The atlas resulting from our group-wise alignment algorithm is obtained as the hidden variable of an Expectation-Maximization (EM) estimation. This is achieved by identifying the most consistent label across the collection of images at each voxel in the common frame of coordinates. In an...
Une méthode de réduction des variables appliquée au contrôle optimal de systèmes gouvernés par des équations différentielles
Une nouvelle transformation des réseaux de Petri généralisés : l’abstraction généralisée
Cet article introduit une nouvelle transformation des réseaux de Petri généralisés appelée l’abstraction généralisée. C’est une réduction dont nous montrons qu’elle conserve les invariants du réseau de départ et les propriétés structurelles les plus importantes. Une fonction de transformation de marquages nous permet d’introduire l’étude de la conservation des propriétés comportementales.
Une nouvelle transformation des réseaux de Petri généralisés : L'abstraction généralisée
Cet article introduit une nouvelle transformation des réseaux de Petri généralisés appelée l'abstraction généralisée. C'est une réduction dont nous montrons qu'elle conserve les invariants du réseau de départ et les propriétés structurelles les plus importantes. Une fonction de transformation de marquages nous permet d'introduire l'étude de la conservation des propriétés comportementales.
Une remarque sur la stabilisation de certains systèmes du deuxième ordre en temps
Unicité et contrôle pour le système de Lamé
Dans cet article on étudie le problème de l’unicité locale pour le système de Lamé. On prouve qu’on a l’unicité de Cauchy par rapport à toute surface non caractéristique. Nous donnons également deux résultats de densité qui s’applique à la théorie du contrôle pour le système de Lamé.
Unicité et contrôle pour le système de Lamé
In this paper, we study the uniqueness problem for the Lamé system. We prove that we have the uniqueness property across any non characteristic surface. We also give two results which apply to the boundary controllability for the Lamé system.
Uniform controllability for Kirchhoff and Mindlin-Timoshenko elastic systems.