The primary objective of this research is to model the biomechanical control system employed by the Central Nervous System (CNS) to maintain posture and balance of the HAT (Head-Arms-Torso) during gait. More specifically, the intent is to stabilize a model of the upper body (HAT) so that the HAT response is similar to that found experimentally in human subjects during gait. This will be accompl...

This paper presents the controller design of magnetic levitation application. The highly nonlinear electromagnetic suspension EMS system is hard and limited system control subjected to prescribed stability of system. Due to the nonlinear dynamics of system, the linearization of the nonlinear EMS plant is described by linear model. An attraction force about the prescribed nominal operating point...

ARTICLE HISTORY: Received 22 January 2017 Revised 03 March 2017 Accepted 04 April 2017 This paper considers solving optimization problem for linear discrete time systems such that closed-loop discrete-time system is positive (i.e., all of its state variables have non-negative values) and also finite-time stable. For this purpose, by considering a quadratic cost function, an optimal controller i...

This article presents a method to design controller for active roll stabilization (ARS) with disturbance feedforward control. To the controller, linear 1-DOF model is adopted. With model, three feedback controllers, i.e., quadratic regulator (LQR), H∞ and sliding mode (SMC), are designed. Feedforward lateral acceleration designed discrete-time state-space equation improve control performance. e...

The main contribution of this paper is the development of fault tolerant control for a wind energy conversion system (WECS) based on the stochastic piecewise affine (PWA) model. In this paper the normal and fault stochastic PWA models for WECS including multiple working points at different wind speeds are established. A reliable piecewise linear quadratic regulator state feedback is designed fo...

In this paper, a novel vehicle dynamics controller is proposed by combining two control loops which are formed by the individually actuated wheel braking and steering regulator. The inner braking loop regulates the individual tire force generation and prevents tire force saturation with respect to tire slip. When the tire forces are regulated to operate in the linear region of their nonlinear c...

This research aims to optimise performance in a Fuzzy Linear Quadratic Regulator controller by implementing 2 types of algorithm stabilise the triple-link ‘Robogymnast’ robotic system. The Robogymnast recreates movements human gymnast, with hand/arm element system securely attached high bar ball0bearing mountings, which can rotate freely. article explores complex factors involved swing-up contr...

A novel state dependent control approach for discrete-time nonlinear systems with general performance criteria is presented. This controller is robust for unstructured model uncertainties, resilient against bounded feedback control gain perturbations in achieving optimality for general performance criteria to secure quadratic optimality with inherent asymptotic stability property together with ...

This paper considers the issue of linear-quadratic regulator (LQR) design for nonlinear systems with use smooth state and input transformations. The proposed methodology is considered in stabilisation task Pendubot, which based on concept feedback equivalent control systems. It turns out that it possible to find a controller ensures comparable dynamics closed-loop system vicinity set point rega...

The robust control and active vibration control for free-floating space flexible manipulator with parameter uncertainties are studied. The dynamic equations of the system are developed by using the Lagrangian assumed modes methods, it is verified that the dynamic equation can be linearly dependent on a group of inertial parameters. Based on the results and under the assumption of two-time scale...