The article describes the design of a force controller for a position-based manipulator with arbitrary dead-time applying Kalman Active Observers. The design is based on pole placement using discrete state space theory. An active state variable is introduced to compensate non linearities and parameter variations during the control process. Only the output of the plant is measured. All the discr...

This paper presents a load sharing heuristic for distributed computing on workstation clusters. The approach is novel in that it combines the use of predicted resource requirements of processes (CPU-time, memory requirements, density of the I/O-stream) and a fuzzy logic controller which makes the placement decision. The heuristic is distributed, i.e. each node runs a copy of the prediction and ...

A robust version of the output controller design for discrete-time systems is introduced. Instead of a single stable point a stable polytope (or simplex) is preselected in the coefficient space of closed-loop characteristic polynomials. A constructive procedure for generating stable simplexes is given starting from the unit hypercube of reflection coefficients of monic polynomials. This procedu...

A sliding mode controller u(t) is designed to achieve the following three objectives simultaneously: eigenvalue placement, H‘ norm constraint, and individual state variance constraint for bi-linear stochastic systems. By using the invariance property of sliding mode control, the matched bi-linear term of the system disappears on the sliding mode. With the aid of the upper bound covariance contr...

Abstract—Weak damping of low frequency oscillations is a frequent phenomenon in electrical power systems. These frequencies can be damped by power system stabilizers. Unified power flow controller (UPFC), as one of the most important FACTS devices, can be applied to increase the damping of power system oscillations and the more effect of this controller on increasing the damping of oscillations...

This report presents a load sharing heuristic for distributed computing on workstation clusters. The approach is novel in that it combines the use of predicted resource requirements of processes (CPU-time, memory requirements, density of the I/O-stream) and a fuzzy logic controller which makes the placement decision. The heuristic is distributed, i.e. each node runs a copy of the prediction and...

This paper presents a pole-placement based control algorithm to treat ISA Fieldbus H1 delay problems. A digital network delay model is embedded with the process model in order to design a suitable closed-loop controller. The effect of different values of network delay against sampling time is analyzed. Pole-placement technique should not simplify zeros in order to achieve stability in closed-lo...

Two different adaptive controllers for systems with backlash acting on the input are discussed; one in continuous time and one in discrete time. Both schemes are based on a backlash inverse and a linear controller. The unknown plant parameters and the backlash width are estimated. The estimated parameters are used for pole placement design of the controller and for backlash compensation in the ...

In this paper, inverse optimal control theory is used to design a state or an output feedback controller that both places the closed loop poles at desired positions and satisfies a linear quadratic criterion. The design method consists of two steps, first n-m poles are precisely placed and second the remaining m poles are selected to satisfy optimality criteria, where n is the number of the sys...

Fast-paced dynamic environments like robot soccer require highly responsive and dynamic locomotion. We present an implementation of an omnidirectional ZMP-based walk engine for the Nao robot. Using a simple inverted pendulum model, a preview controller generates dynamically balanced center of mass trajectories. To enable path planning, we introduce a system of global and egocentric coordinate f...