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A nonlinear optimal control approach for 3-DOF four-cable driven parallel robots
In this article, a nonlinear optimal control approach is proposed for the dynamic model of 3-DOF four-cable driven parallel robots (CDPR). To solve...
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Optimal Control of Differential-Algebraic Inclusions
In this paper we consider the following dynamic optimization problem ( P ) governed by differential-algebraic inclusions:...
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A Continuous Control Mechanism for Uncertain Nonlinear Systems
The control of uncertain nonlinear systems is a topic that continues to challenge control theoreticians. This topic is also of practical importance...
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On Impulses Induced by Singular Perturbations
The possibility that a singularly perturbed controlled dynamics generates impulses in a slow dynamics coupled to it, is investigated. A scheme for...
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10. Main sychronization
It was made clear in Chapter 9 that the second order type-II loop operates either in saturated or in unsaturated mode. In this chapter, only the main...
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4. Main synchronization
In this chapter the main synchronization of the first order PLL is discussed. At first, we perform the local stability analysis of the main...
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8. Main synchronization
In the present chapter the main synchronization of the second order type-I loop is treated. At first, the local stability analysis is presented and...
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15. SIMULATION STUDIES AND REAL-TIME CONTROL USING MATLAB/SIMULINK
The MATLAB programs for simulating the generalized minimum variance (GMV) controller with the CE assumption as well as its dual version are presented...
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13. ROBUSTNESS AGAINST UNMODELED EFFECTS AND SYSTEM STABILITY
Various engineering systems are described by complex dynamic models that include nonlinearities, time-varying parameters and high-order terms....
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6. DUAL POLE-PLACEMENT CONTROLLER WITH DIRECT ADAPTATION
The following two problems have to be solved in order to extend the adaptive dual control approach to direct adaptive pole-placement control systems:...
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9. A SIMPLIFIED APPROACH TO THE SYNTHESIS OF DUAL CONTROLLERS WITH INDIRECT ADAPTATION
The cost function of the deviation between the system output and its nominal value (system response to the unknown desired controller), suggested by...
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Min–Plus Eigenvector Methods for Nonlinear $\rm H_\infty$ Problems with Active Control
We consider the H 4 problem for a nonlinear s y stem. The corresponding dynamic programming equation (DPE) is a fully nonlinear, first-order,...
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Lyapunov Functions and Feedback in Nonlinear Control
The method of Lyapunov functions plays a central role in the study of the controllability and stabilizability of control systems. For nonlinear...
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11. Third harmonic synchronization
In this chapter, a brief analysis of the synchronization at the third harmonic of the center VCO frequency is given. The relatively large width of...
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6. Introduction to second order type – I PLL
From the analysis of the first order loop, presented in Part I, it becomes evident that the presence of the ripple in the output of the phase...
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12. Introduction to third order type – II PLL
According to the analysis presented in Part IV, the presence of ripple makes the performance of the second order type-II loop problematic. Therefore,...
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14. Third harmonic sychronization
In this chapter we will present a brief analysis of the synchronization at the third harmonic of the center VCO frequency for the third order type-II...
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9. Introduction to second order type – II PLL
In the second order type-II loop the filter is active and specifically a PI controller. This loop is considered superior to the second order type-I...
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Appendix
In this appendix, we collect some useful mathematical inequalities and lemmas which have been extensively used throughout the book.
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12. APPLICATION OF DUAL CONTROLLERS TO A LABORATORY SCALE VERTICAL TAKE-OFF AIRPLANE
The application of dual control with direct adaptation to the roll-angle control of a laboratory scale vertical take-off airplane (Patra et al.,...