Abstract: This paper proposes an optimal gait generation framework based on a property of Hamiltonian systems. A key technique is a unified method of learning control and parameter tuning. The proposed method allows one to simultaneously obtain an optimal feedforward input and an optimal tuning parameter for a plant system, which (at least locally) minimize a cost function. It is a repetitive c...

S. Dymkou, E. Rogers, M. Dymkov, K. Ga lkowski, D. H. Owens 1 ITMS, Ballarat University, Australia. 2 Department of Electronics and Computer Science, University of Southampton, Southampton SO17 1BJ, UK. [email protected] 3 Institute of Mathematics, National Academy of Sciences of Belarus, Minsk, Belarus. 4 Institute of Control and Computation Engineering, University of Zielona Góra, Poland. ...

This paper reports new results on the analysis and control of discrete linear repetitive processes which are a distinct class of 2D discrete linear systems of both systems theoretic and applications interest. In particular, we first propose an extension to the basic state-space model to include a coupling term previously neglected but which arises in some applications and then proceed to show h...

The paper presents a design of repetitive control (RC) in the current system three-phase grid-tied converter. goal is to provide sinusoidal input filter currents under conditions distorted and asymmetrical grid voltage. A novel RC presented, which part not excited by sharp non-periodic changes reference signal, but it enables high-quality performance periodic disturbance conditions. In proposed...