In this letter, on the basis of a recently proposed discrete-time port-Hamiltonian representation sampled-data dynamics, we propose new time-varying digital feedback for steering mobile robots. The quality passivity-based control is validated and compared through simulations with existing literature continuous-time implementation using unicycle as case study.

The literature on reconstruction formulas for photoacoustic tomography (PAT) is vast. The various reconstruction formulas differ by used measurement devices and geometry on which the data are sampled. In standard photoacoustic imaging (PAI), the object under investigation is illuminated uniformly. Recently, sectional photoacoustic imaging techniques, using focusing techniques for initializing a...

This paper deals with the problem of stability and stabilization of sampled-data systems under asynchronous samplings and actuators saturation. The method is based, on the first hand, on the use of a novel class of Lyapunov functionals whose derivative is negative along the trajectories of the continuoustime model of the sampled data system. It is shown that this fact guarantees that a quadrati...

The increasing use of digital equipment in control in the last half century made a tremendous impact on controller design methodology. On the other hand, it had little affect on the control problem formulation: the control goals to a large extent still remain those of the analog world. The goal of this paper is to introduce and justify a new approach to sampled-data control system design, which...

This paper deals with the optimal solution to the sampled-data minimum variance filtering problem for linear systems with noise in the states and in the measurements. The solution is derived in the time-domain by using a fast sampling zeroorder hold input discretization of the continuous time systems together with a lifting technique. The original sampled-data system is transformed into an equi...

An analysis of the effects of time-sampling on the obseroer error lineariza-tion design methodology shows that requiring the method to be applicable for an open set of sampling times trioializes the class of allowable systems. Abstract-The effects of time-sampling on the solvability conditions for the observer linearization design methodology are investigated. It is shown that the class of syst...