This paper presents an iterative Linear-Quadratic-Gaussian method for locally-optimal control and estimation of non-linear stochastic systems. The new method constructs an affine feedback control law, obtained by minimizing a novel quadratic approximation to the optimal cost-to-go function, and a non-adaptive estimator optimized with respect to the current control law. The control law and filte...

Manual adjustment of control parameters for physical modeling synthesis suffers from practical limitations of timeintensive and sometimes arbitrary and haphazard parameter tweaking. An efficient approach to automatic parameter estimation, the goal of this study, would potentially eliminate much of the hit or miss nature of parameter tuning by finding optimal control parameters for physical mode...

This paper addresses the global asymptotic stabilization of nonlinear systems in the presence of unmodeled dynamics appearing at the input. The unmodeled dynamics are restricted to be minimum-phase and relative degree zero. On the basis of nonlinear small-gain arguments, we design a static feedback control law to achieve global asymptotic stabilization. In the absence of full state information ...

This correspondence considers a problem of robust impulse control of uncertain singular systems by decentralized output-feedback. It derives a perturbation upper bound that ensures the existence of decentralized output-feedback control law such that the closed-loop system remains both regularity and impulse free for any allowable perturbations. Algebraic sufficient conditions are also presented...

This paper studies the problem of stabilization with optimal performance for dissipative DIHS discrete-time impulsive hybrid systems . By using Lyapunov function method, conditions are derived under which the DIHS with zero inputs is GUAS globally uniformly asymptotically stable . These GUAS results are used to design feedback control law such that a dissipative DIHS is asymptotically stabilize...

The problem of global stabilization for a class of nonlinear system is considered in this paper.The sufficient condition of the global stabilization of this class of system is obtained by deducing thestabilization of itself from the stabilization of its subsystems. This paper will come up with a designmethod of state feedback control law to make this class of nonlinear system stable, and indica...

Considerable safety benefits are achieved by robustly decoupling the lateral and yaw motions of a car with active steering. Robust unilateral decoupling requires an actuator to generate an additional front wheel steering angle. However, introducing actuators to closed loop systems may cause limit cycles due to actuator saturation and rate limits. Such limit cycles are intolerable w.r.t. safety ...

Discrete-time linear systems with perturbed initial state are considered. A disturbance that infects the initial state is said to be ε-tolerable if the corresponding output signal is relatively insensitive to their effects. In this paper, we will define a new set that characterize each gain matrix K and the associated feedback control law ui = Kxi , this set will be called the ε-capacity of the...

This paper deals with the problem of robust stabilization for uncertain two-dimensional systems described by the Roesser model. The uncertainty under consideration has linear fractional form. Sufficient conditions for robust stability and robust stabilization are obtained. Moreover, the results generalize the works on uncertain 2-D systems with norm-bounded parametric uncertainties. A robust st...

In this paper, we consider the regulation of water level in open-channel hydraulic systems. We consider a LQ control problem for linear symmetric infinitedimensional systems. A state feedback control law is obtained part from the solution of a three-dimensional partial differential Riccati equation. The effectiveness of this control law is demonstrated in simulation when applied to the nonlinea...