This paper is concerned with set-point sevo problems by P·SPR·D control and P·I·SPR·D control of affine nonlinear system which is of multi input and multi output. P·SPR·D control consists of proportional (P) action + strict positive real (SPR) action + derivative (D) action. Such control can asymptotically stabilize the affine nonlinear system being passive. Stability analysis of P·SPR·D contro...

Nonlinear control theory has undergone a rapid development in the past decade. Some of these results and ideas have found application in the field of automotive powertrain control where the models that are used are typically multi-input, multi-output, and nonlinear. In this paper, we illustrate a particular application where the disturbance decoupling paradigm is used to design a controller tha...

This paper deals with the tracking control of multi-input/multi-output nonlinear systems in the presence of additive disturbances and parametric uncertainties. For such systems, robust adaptive controllers usually cannot ensure asymptotic tracking or even regulation. In this work, under the assumption the disturbances are C with bounded time derivatives, we present a C0 robust adaptive control ...

The Multivariable Continuous-time Generalised Predictive Controller (CGPC) is recast in a state-space form and shown to include Generalised Minimum Variance (GMV) and an new algorithm, Predictive GMV (PGMV) as special cases. Comparisons are drawn with the exact linearisation methods of nonlinear control and it is noted that, unlike the transfer function approach, the state-space approach extend...

In this paper, a simple neural network (NN) control scheme is developed for a class of discrete-time multi-input multi-output (MIMO) non-affine nonlinear systems with triangular form inputs and disturbances. The system studied is described by NARMAX (Nonlinear Auto Regressive Moving Average with eXogenous inputs) model. Firstly, by using implicit function theorem, the existence of the implicit ...

This paper deals with the tracking control of multi-input/multi-output nonlinear systems in the presence of additive disturbances and parametric uncertainties. For such systems, robust adaptive controllers usually cannot ensure asymptotic tracking or even regulation. In this work, under the assumption the disturbances are C with bounded time derivatives, we present a C robust adaptive control c...

This paper is concerned with P·SPR·D control of affine nonlinear system and robot manipulators which are passive systems. P·SPR·D control consists of proportional(P) action + strict positive real(SPR) action + derivative(D) action. Such control can asymptotically stabilize the affine nonlinear system being of multi input and multi output. Stability analysis of the P·SPR·D control is made, based...

We investigate on the nonlinear dynamics of Airy beams in a regime where nonlinear losses due to multi-photon absorption are significant. We identify the nonlinear Airy beam (NAB) that preserves the amplitude of the inward Hänkel component as an attractor of the dynamics. This attractor governs also the dynamics of finite-power (apodized) Airy beams, irrespective of the location of the entrance...