We consider here the row-by-row decoupling of linear timeinvariant systems by proportional and derivative state feedback. Our contribution, with respect to previous results, is that our procedure is based on simple operator (say matrices) manipulations, without any need to use a canonical form. The only assumptions for applying such a decoupling strategy are that the system is right invertible ...

This paper presents a new design of adaptive fuzzy variable structure control to solve the traditional problem of model reference adaptive control (MRAC) for a class of single-input, single-output minimum-phase uncertain nonlinear systems via backstepping. Instead of taking the tedious coordinate transformation and yielding a "hard" high-gain controller, we introduce smooth B-spline-type member...

Identification of multi-input muiti-output [MIMO) Section 3 of the naner is concerned with the case -~~~ ~-. ~-~~r ~ ~ r ~ ------.---~~ ~ ~ ..~.. linear dynamic systems is considered for the c&e when the measurements are obtained during closed loop operation. Both where the disturbances in the feedback path are a noise free and noisv feedback situations are analvsed. For the full rank stochasti...

The purpose of this paper is two-fold, firstly it describes the development and modelling of an experimental test facility as a platform on which to assess the performance of Iterative Learning Control (ILC) schemes. This facility includes a non-minimum phase component. Secondly, P-Type, D-Type and phase-lead types of the algorithm have been implemented on the test-bed, results are presented fo...

The problem of output regulation of affine nonlinear systems with the relative degree not well defined by modified steepest descent control is studied. The modified steepest descent control is a dynamic feedback control which is generated by the trajectory following method. By assuming the system is minimum phase, output of the system can be regulated globally asymptotically.

A beamforming algorithm is introduced based on the general objective function that approximates the bit error rate for the wireless systems with binary phase shift keying and quadrature phase shift keying modulation schemes. The proposed minimum approximate bit error rate (ABER) beamforming approach does not rely on the Gaussian assumption of the channel noise. Therefore, this approach is also ...

This paper deals with a discrete time repetitive control synthesis for non minimum phase plants. Two parts can be distinguished. The main design features of the repetitive controllers are discussed in the first part. More precisely one shows that one can realize two objectives; tracking with zero error and tracking with nonzero error. In the second part, a suitable plant model identification pr...

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 ...

We consider the problem of output regulation for the class of minimum-phase nonlinear systems described in normal form. We assume that the ideal steady state control input fulfills a nonlinear regression law that is linearly parametrized in the uncertain parameters and we propose an internal model-based design that combines high-gain and identification tools. The identification tool by which th...

This paper presents a new approach towards the design of iterative learning control (Moore, 1993). In linear motion control systems the design is often complicated by the inverse plant sensitivity being non-causal and even unstable. To overcome these problems the inverse system is split up in a causal and a non-causal part. We apply high-performance differentiating filters together with a mixed...