Analysis of Multivariable Servo Systems Considering Sensor Dynamics

Multivariable deadbeat servo problem

The problem of tracking a reference vector variable from a given class is considered for discrete-time linear multi-input-output plants. The plant and the reference are both described by an input/output relation and the objective is to track exactly in a minimum number of steps. The optimal control law is shown to contain both feedback and feedforward terms and it is obtained by solving only th...

Optimal Control of Nonlinear Multivariable Systems

This paper concerns a study on the optimal control for nonlinear systems. An appropriate alternative in order to alleviate the nonlinearity of a system is the exact linearization approach. In this fashion, the nonlinear system has been linearized using input-output feedback linearization (IOFL). Then, by utilizing the well developed optimal control theory of linear systems, the compensated ...

Geometric analysis of multivariable control systems

A Universal Sensor Control Architecture Considering Robot Dynamics

The paper presents a dynamical sensor control architecture that allows robot arms to perform tasks that with conventional feedback of sensor data fail because of delays or deviations due to the robot dynamics. The architecture distinguishes between robot positional control and refinement of desired positions using vision and / or other sensors. Each of these aspects is designed without the know...

Multivariable Complex Dynamics

Broadly speaking, the object in ‘multivariable complex dynamics’ is to understand dynamical properties of holomorphic (and more generally meromorphic) mappings f : X → X on compact complex manifolds X with complex dimension two or larger. The subject has been actively pursued for about twenty years now, and it has its genesis in several sources. First among these is the remarkable success in un...