In this paper, a polytopic approach is used to derive a new hybrid model of systems submitted to dry friction. The principal characteristics of the proposed approach are that it is easily comprehensible, has few parameters, allows the adjustment of the model complexity to the treated case, models the stick-slip phenomena, and has low simulation time. The proposed new dry friction model is appli...

In this paper, the problems of stability for continuous and discrete-time polytopic uncertain switched linear systems with average dwell time switching are investigated. Firstly, the exponential stability result of general continuous-time switched systems using a discontinuous piecewise Lyapunov function approach is revisited, and the discretetime counterpart is then presented by the following ...

This paper addresses a linear finite-horizon robust optimal H∞ analysis problem, where the system matrices and the system initial conditions (ICs, x0) are concurrently uncertain, both in a polytopic manner. Current finite-horizon H∞ analysis practice assumes x0 ∈R ; that is, allows infinite ICs uncertainty. This assumption is unrealistically conservative, and incompatible with the prevalent rob...

The paper addresses the problem of designing a robust output/state model predictive control for linear polytopic switched systems. We propose a new method for calculation of control algorithm parameters for predictive robust control of a linear switched polytopic system. Lyapunov function approach guarantees the multi-parameter-dependent quadratic stability (MPDQS) and guaranteed cost for a clo...

Friction is a very old and universal issue in all mechanical systems. Since friction is non-linear, it is an ever challenging problem. Several empirical nonlinear friction models have been proposed in the technical literature. This paper does not propose any new model but it presents a new, tensor product (TP) based representation of the existing friction models which is suitable for control de...

This paper is concerned with robust static output-feedback (SOF) control for linear discrete-time systems subject to polytopic uncertainty and restricted frequency-domain specifications (RFDSs) via the generalized Kalman-Yakubovich-Popov (KYP) lemma. Polytopic uncertainties are assumed to enter all the system matrices, while RFDSs are motivated by the fact that practical design specifications a...

Like its mitochondrial homolog Oxa1p, the inner membrane protein YidC of Escherichia coli is involved in the integration of membrane proteins. We have analyzed individual insertion steps of the polytopic E. coli membrane protein MtlA targeted as ribosome-nascent chain complexes to inner membrane vesicles. YidC can accommodate at least the first two transmembrane segments of MtlA at the protein ...