This paper considers nonlinear perturbations of control systems with linear dynamics and seeks to analyze whether the approximately reachable set may be left unchanged by this perturbation. Under suitable conditions it is shown that this analysis may be reduced to the presumably simpler analysis of such invariance for a family of affine perturbations. Interest centers on the context of infinite...

This paper presents a novel method for designing robust MPC schemes that are self-optimizing in terms of disturbance attenuation. The method employs convex control Lyapunov functions and disturbance bounds to optimize robustness of the closed-loop system on-line, at each sampling instant a unique feature in MPC. Moreover, the proposed MPC algorithm is computationally efficient for nonlinear sys...

In this paper, an Adaptive Backstepping Neural Network control approach is used for a class of affine nonlinear systems which describe the pump model in the strict feedback form. The close loop signals are semi globally uniformly ultimately bounded and the output of the system is proven to follow a desired trajectory. Simulation results are presented to show the effectiveness of the approach pr...

Ultrasound elastography entails imaging mechanical properties of tissue and is therefore of significant clinical importance. In elastography, two frames of radio-frequency (RF) ultrasound data that are obtained while the tissue is undergoing deformation, and the time-delay estimate (TDE) between the two frames is used to infer mechanical properties of tissue. TDE is a critical step in elastogra...

In this paper a theoretical framework of robust fault-tolerant control (FTC) for a class of nonlinear nonaffine-in-control systems is developed. In the framework, an observer-like auxiliary system is designed via adaptive and sliding mode techniques, which is only required to ensure that the output of the auxiliary system asymptotic tracking plant output. Based on the auxiliary system, a reconf...