Many physical systems can be modelled using linear 2 × 2 hyperbolic partial differential equations. The act of stabilizing systems of this type has therefore been subject to extensive research, and a number of techniques and feedback laws have been proposed in the literature. In this thesis, a full state feedback law for disturbance attenuation in such systems is derived, with actuation limited...

Employing disturbance observers is an effective way of enhancing the stability and performance of the control systems subject to disturbances. Disturbance observers have been extensively used for control of mechatronic systems since their introduction in the 1980s. This thesis studies the design of nonlinear disturbance observers for robotic manipulators and their applications in the control of...

This paper presents an alternative approach for active vibration control for systems with periodic disturbances of time-varying fundamental frequency. The motivation for this approach is active control of engine-induced vibration in automotive vehicles, where the fundamental frequency, i.e., engine firing frequency, goes from approximately 7 Hz at idle (840 rpm) to approximately 50 Hz (6000 rpm...

An urban railway train is a braking power-distributed system consisting of multiple carriages, which becoming powerful transportation tool to alleviate traffic congestion within cities as well across cities. It critical control an synchronously for improving performances, but challenging be achieved due strong coupling, unknown dynamics, and disturbances. This paper proposes observer-driven dis...

The problem of adaptive fault-tolerant control for linear systems with time-varying actuator faults including outage and loss of effectiveness is investigated in this paper. After presenting a time-varying actuator fault model, a novel adaptive observer is designed so that the fault parameter can be estimated fast. Here, the inevitable fault estimation error, as well as the exogenous disturbanc...

This paper investigates the tracking control of a wheeled mobile robot in the unknown environment. A disturbance observer is developed with utilization the integral filter. The proposed control scheme employs the disturbance observer control approach to design an auxiliary wheel velocity controller to make the tracking errors, which includes the velocity tracking error, the angular velocity tra...

This paper studies the fixed-time output-feedback control for a class of linear systems subject to matched uncertainties. To estimate uncertainties and system states, we design composite observer which consists high-order sliding mode Luenberger observer. Then, robust controller with convergence guarantee is constructed. Rigorous theoretical proof shows that proposed controller, states can conv...

A practical active disturbance rejection control (ADRC) solution is proposed for the furnace temperature system. Employing a linear reduced-order model with optimized parameters, the practical ADRC is simple to use, easy to tune and energy-efficient in dealing with the uncertainties and disturbances in plant dynamics. Through the order reduction in both the plant model and the state observer, w...

The robust H∞ filtering problem is investigated for a class of complex network systems which has stochastic packet dropouts and time delays, combined with disturbance inputs. The packet dropout phenomenon occurs in a random way and the occurrence probability for each measurement output node is governed by an individual random variable. Besides, the time delay phenomenon is assumed to occur in a...