This paper deals with the combination of system identiica-tion and robust controller design. Recent results on estimation of frequency domain model uncertainty are utilized in robust analysis and controller design using. It is shown how estimated frequency domain uncertainty ellipses may be represented within the general-framework using a mixed perturbation set. A methodology for synthesizing o...

Due to the phasing out of nuclear energy in Germany there are a growing number of nuclear facilities that have to be decommissioned within the next years. In this context a multitude of surfaces in nuclear facilities have to be decontaminated. Manipulator-deployed systems offer a suitable solution and are properly designed for this kind of task. Beyond that they can be used for the processing o...

This paper focuses on the problem of robust control for Takagi–Sugeno (T–S) fuzzy systemswith time-delay. The delay-dependent stability analysis and controller synthesis have been addressed. The free weighting matrix method has been used for stability analysis and controller synthesis. New and less conservative delay-dependent stability conditions are proposed in terms of linear matrix inequali...

Various optimal control strategies exist in the literature. Prominent approaches are Robust Control and Linear Quadratic Regulators, the first one being related to the H∞ norm of a system, the second one to the H norm. In 1994, F. De Bruyne et al [1] showed that assuming knowledge of the poles of a transfer function one can derive upper bounds on the H∞ norm as a constant multiple of its H norm...

This paper presents a robust control scheme for flexible link robotic manipulators, which is based on considering the flexible mechanical structure as a system with slow (rigid) and fast (flexible) modes that can be controlled separately. The rigid dynamics is controlled by means of a robust sliding-mode approach with wellestablished stability properties while an LQR optimal design is adopted f...

In this paper, adaptive control is studied for a class of nonlinear discrete-time systems in strict-feedback form with unknown control directions. The system is transformed to an n-step ahead predictor, based on which an adaptive control employing the predicted future states has been proposed. The discrete Nussbaum gain is exploited to overcome the difficulty caused by unknown control direction...

Key Words-Parameter-dependent Lyapunov functions; constant real parameter uncertainty; robust stability and performance. Almhmct-Parameterodependent Lyapunov functions are developed for discrete-time systems with constant real parameter uncertainty. This construction of a family of Lyapanov functions is then used to analyze robust stability with He performance bounds for state space systems. A ...

In this paper, the problem of devising a fault-tolerant robust control for a class of nonlinear uncertain systems is investigated. Possible failures of the sensor measuring the state variables are considered, and a robust measure is developed to identify the stabilityand performance-vulnerable failures. Based on evaluation of the robust measure, a fault-tolerant robust control will switch itsel...

Robust control problems in linear systems are considered on the base of analysis of related linear quadratic differential game. New explicit formulae for the "best" robust optimal control input and the "worst" exogenous disturbance derived with the use of pseudo-inverse matrices ) (t D+ were originally suggested in this author's previously published paper "Reduction of Dimensionality in Choosin...

We consider a parallel server system that consists of several customer classes and server pools in parallel. We propose a simple robust control policy to minimize the total linear holding and reneging costs. We show that this policy is asymptotically optimal under the many-server heavy traffic regime for parallel server systems when the service times are only server pool dependent and exponenti...