Changes in signature induced by the Lyapunov mapping .
Chaos synchronization of TSUCS unified chaotic system, a modified function projective control method
The synchronization problem of the three-scroll unified chaotic system (TSUCS) is studied in this paper. A modified function projective synchronization (MFPS) method is developed to achieve this goal. Furthermore, the only parameter of the TSUCS unified chaotic system is considered unknown and estimated with an appropriate parameter estimation law. MFPS method is investigated for both identical and non-identical chaotic systems. Lyapunov stability theorem is utilized to verify the proposed feedback...
Characteristic polynomial assignment for delay-differential systems via 2-D polynomial equations
Circle criterion and boundary control systems in factor form: input-output approach
A circle criterion is obtained for a SISO Lur’e feedback control system consist- ing of a nonlinear static sector-type controller and a linear boundary control system in factor form on an infinite-dimensional Hilbert state space H previ- ously introduced by the authors (Grabowski and Callier, 1999). It is assumed for the latter that (a) the observation functional is infinite-time admissible, (b) the factor control vector satisfies a compatibility condition, and (c) the trans- fer function belongs...
Clocks and insensitivity to small measurement errors
Clocks and Insensitivity to Small Measurement Errors
This paper deals with the problem of stabilizing a system in the presence of small measurement errors. It is known that, for general stabilizable systems, there may be no possible memoryless state feedback which is robust with respect to such errors. In contrast, a precise result is given here, showing that, if a (continuous-time, finite-dimensional) system is stabilizable in any way whatsoever (even by means of a dynamic, time varying, discontinuous, feedback) then it can also be semiglobally...
Closed-loop stability of discrete linear single-variable systems
Common Lyapunov function based on Kullback-Leibler divergence for a switched nonlinear system.
Comparison of the stability boundary and the frequency response stability condition in learning and repetitive control
In iterative learning control (ILC) and in repetitive control (RC) one is interested in convergence to zero tracking error as the repetitions of the command or the periods in the command progress. A condition based on steady state frequency response modeling is often used, but it does not represent the true stability boundary for convergence. In this paper we show how this useful condition differs from the true stability boundary in ILC and RC, and show that in applications of RC the distinction...
Composite control of the -link chained mechanical systems
In this paper, a new control concept for a class of underactuated mechanical system is introduced. Namely, the class of -link chains, composed of rigid links, non actuated at the pivot point is considered. Underactuated mechanical systems are those having less actuators than degrees of freedom and thereby requiring more sophisticated nonlinear control methods. This class of systems includes among others frequently used for the modeling of walking planar structures. This paper presents the stabilization...
Computation of linear algebraic equations with solvability verification over multi-agent networks
In this paper, we consider the problem of solving a linear algebraic equation in a distributed way by a multi-agent system with a solvability verification requirement. In the problem formulation, each agent knows a few columns of , different from the previous results with assuming that each agent knows a few rows of and . Then, a distributed continuous-time algorithm is proposed for solving the linear algebraic equation from a distributed constrained optimization viewpoint. The algorithm is...
Computer methods for stability analysis of the Roesser type model of 2D continuous-discrete linear systems
Asymptotic stability of models of 2D continuous-discrete linear systems is considered. Computer methods for investigation of the asymptotic stability of the Roesser type model are given. The methods require computation of eigenvalue-loci of complex matrices or evaluation of complex functions. The effectiveness of the stability tests is demonstrated on numerical examples.
Condiciones algebraicas de existencia y estabilidad para el diseño de controladores para sistemas lineales multivariables interconectados.
This paper presents an algebraic design theory for interconnected systems. Usual multivariable linear systems are described in a unified way. Both square and nonsquare plants and controllers are included in the study and an easy characterization of the achievable I/O (input-to-output) and D/O (disturbance-to-output) maps is presented through the use of appropriate controllers. Sufficient conditions of stability are given.
Consensus of heterogeneous multi-agent systems with uncertain DoS attack: Application to mobile stage vehicles
In this paper, the consensus of heterogeneous multi-agent systems (MASs) with uncertain Deny-of-Service (DoS) attack strategies is studied. In our system, all agents are time synchronized and they communicate with each other with a constant sampling period normally. When the system is under attack, all agents use the hold-input mechanism to update the control protocol. By assuming that the attack duration is upper bounded and the occurrence of the attack follows a Markovian jumping process, the...
Consensus seeking in multi-agent systems with an active leader and communication delays
In this paper, we consider a multi-agent consensus problem with an active leader and variable interconnection topology. The dynamics of the active leader is given in a general form of linear system. The switching interconnection topology with communication delay among the agents is taken into consideration. A neighbor-based estimator is designed for each agent to obtain the unmeasurable state variables of the dynamic leader, and then a distributed feedback control law is developed to achieve consensus....
Constrained least squares control
Constrained robust adaptive stabilization for a class of lower triangular systems with unknown control direction
This paper studies the constrained robust adaptive stabilization problem for a class of lower triangular systems with unknown control direction. A robust adaptive feedback control law for the systems is proposed by incorporating the technique of Barrier Lyapunov Function with Nussbaum gain. Such a controlled system arises from the study of the constrained robust output regulation problem for a class of output feedback systems with the unknown control direction and a nonlinear exosystem. An application...
Constrained stabilization of a dynamic systems: a case study
In this work we consider the problem of determining and implementing a state feedback stabilizing control law for a laboratory two-tank dynamic system in the presence of state and control constraints. We do this by exploiting the properties of the polyhedral Lyapunov functions, i. e. Lyapunov functions whose level surfaces are polyhedra, in view of their capability of providing an arbitrarily good approximation of the maximal set of attraction, which is the largest set of initial states which can...
Construction of a controller with a generalized linear immersion
Gröbner bases for modules are used to calculate a generalized linear immersion for a plant whose solutions to its regulation equations are polynomials or pseudo-polynomials. After calculating the generalized linear immersion, we build the controller which gives the robust regulation.
Continuity of solutions of Riccati equations for the discrete-time JLQP
The continuity of the solutions of difference and algebraic coupled Riccati equations for the discrete-time Markovian jump linear quadratic control problem as a function of coefficients is verified. The line of reasoning goes through the use of the minimum property formulated analogously to the one for coupled continuous Riccati equations presented by Wonham and a set of comparison theorems.