Nonlinear analysis and control of a reaction wheel pendulum: Lyapunov-based approach

Nonlinear Control of the Inertia Wheel Pendulum

A new approach based on state conversion to stability analysis and control design of switched nonlinear cascade systems

In this paper, the problems of control and stabilization of switched nonlinear cascade systems is investigated. The so called simultaneous domination limitation (SDL) is introduced in previous works to assure the existence of a common quadratic Lyapunov function (CQLF) for switched nonlinear cascade systems. According to this idea, if all subsystems of a switched system satisfy the SDL, a CQLF ...

‏‎a phonological contrastive analysis of kurdish and english‎‏

deposite the different criticisms on contrastive analysis it has been proved that the results of it(when processed)can be usuful in a tefl environment,specially at the level of phonology.this study is an attempt to compare and contrast the sound systems of kurdish and english for pedagogical aims. the consonants,vowels,stress and intonation of the twolanguages are described by the same model-ta...

Lyapunov-based versus Poincaré map analysis of the rimless wheel

Hybrids systems are combinations of continuous and discrete systems. The bouncing ball is an extensively studied hybrid system, for which many solid Lyapunov-based tools are now available. Toward applying these tools to walking robots, where a hybrid dynamical system framework is also a natural fit, the rimless wheel provides a salient dynamic model because it shares commonalities with both bou...

Repetitive learning control: a Lyapunov-based approach

In this paper, a learning-based feedforward term is developed to solve a general control problem in the presence of unknown nonlinear dynamics with a known period. Since the learning-based feedforward term is generated from a straightforward Lyapunov-like stability analysis, the control designer can utilize other Lyapunov-based design techniques to develop hybrid control schemes that utilize le...