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Sliding mode is used in order to retain a dynamic system accurately at a given constraint and features theoretically-infinite-frequency switching. Standard sliding modes are known to feature finite time convergence, precise keeping of the constraint and robustness with respect to internal and external disturbances. Having generalized the notion of sliding mode, higher order sliding modes preserve or generalize its main properties, improve its precision with discrete measurements and remove the chattering...
Design of a state observer is an important issue in control systems and signal processing. It is well known that it is difficult to obtain the desired properties of state feedback control if some or all of the system states cannot be directly measured. Moreover, the existence of a lumped perturbation and/or a time delay usually reduces the system performance or even produces an instability in the closed-loop system. Therefore, in this paper, a new Variable Structure Observer (VSO) is proposed for...
This paper presents the variational approach to some optimization problems: Mayer's problem with or without constraints on the final point, local controllability of a trajectory, time-optimal problems.
Control strategies for nonlinear dynamical systems often make use of special system properties, which are, for example, differential flatness or exact input-output as well as input-to-state linearizability. However, approaches using these properties are unavoidably limited to specific classes of mathematical models. To generalize design procedures and to account for parameter uncertainties as well as modeling errors, an interval arithmetic approach for verified simulation of continuoustime dynamical...
This paper analyzes the relation of viability kernels and control
sets of control affine systems. A viability kernel describes
the largest closed viability domain contained in some closed subset
Q of the state space. On the
other hand, control sets are maximal regions of the state space
where approximate controllability holds. It turns out that
the viability kernel of Q can be represented by the union of
domains of attraction of chain control sets, defined relative
to the given set Q.
In particular,...
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