J-Inner-Outer Factorization, J-Spectral Factorization, and Robust Control for Nonlinear Systems
نویسندگان
چکیده
The problem of expressing a given nonlinear statespace system as the cascade connection of a lossless system and a stable, minimum-phase system (inner-outer factorization) is solved for the case of a stable system having state-space equations affine in the inputs. The solution is given in terms of the stabilizing solution of a certain Hamilton-Jacobi equation. The stable, minimum-phase factor is obtained as the solution of an associated nonlinear spectral factorization problem. As an application, one can arrive at the solution of the nonlinear H , -control problem for the disturbance feedforward case.
منابع مشابه
An Information State Approach to Nonlinear J-inner/outer Factorization
In this paper we propose a new theory for obtaining J-inner/outer factorizations of nonlinear systems based on the recently developed information state framework for output feedback diierential games and H1 control.
متن کاملB?J/?(?,K) Decays within QCD Factorization Approach
We used QCD factorization for the hadronic matrix elements to show that the existing data, in particular the branching ratios BR ( ?J/?K) and BR ( ?J/??), can be accounted for this approach. We analyzed the decay within the framework of QCD factorization. We have complete calculation of the relevant hard-scattering kernels for twist-2 and twist-3. We calculated this decays in a special scale ...
متن کاملCausal approximate inversion for control of structurally flexible manipulators using nonlinear inner-outer factorization
A control scheme for flexible-link manipulators is advanced which is based on the notion of nonlinear inner–outer factorization. It is well known that the inverse of the forward dynamics map from joint torques to manipulator tip motion is noncausal and cannot be implemented in conjunction with real-time path planning. The methods used here determine causal approximations for the inverse dynamic...
متن کاملRobust Adaptive Actuator Failure Compensation of MIMO Systems with Unknown State Delays
In this paper, a robust adaptive actuator failure compensation control scheme is proposed for a class of multi input multi output linear systems with unknown time-varying state delay and in the presence of unknown actuator failures and external disturbance. The adaptive controller structure is designed based on the SPR-Lyapunov approach to achieve the control objective under the specific assump...
متن کاملA Simple Derivation of Right Interactor for Tall Transfer Function Matrices and its Application to Inner-Outer Factorization
An interactor matrix plays several important roles in the control systems theory. In this paper, we present a simple method to derive the right interactor for tall transfer function matrices using Moore-Penrose pseudoinverse. By the presented method, all zeros of the interactor lie at the origin. The method will be applied to the inner-outer factorization. It will be shown that the stability of...
متن کامل