1Department of Control and Instrumentation Engineering, Seoul National University of Technology, 172 Gongneung 2-dong, Nowon-gu, Seoul 139-743, Korea 2Systems Biology Lab, Department of Engineering, University of Leicester, University Road, Leicester LE1 7RH, U.K. 3Department of Biology, University of Leicester, University Road, Leicester LE1 7RH, U.K. 4Department of Bio and Brain Engineering, ...

A new robust controller design method is proposed to obtain a less conservative feedback controller and it is applied to a single-link flexible manipulator. The objective is to maximize the control performance guaranteeing the robust stability when regulating the tip position of the flexible manipulator in the presence of a large time-varying payload and parameter uncertainties such as stiffnes...

Order statistics theory is applied in this paper to probabilistic robust control theory to compute the minimum sample size needed to come up with a reliable estimate of an uncertain quantity under continuity assumption of the related probability distribution. Also, the concept of distribution-free tolerance intervals is applied to estimate the range of an uncertain quantity and extract the info...

This paper deals with feedback controller synthesis for timed event graphs, where the number of initial tokens and time delays are only known to belong to intervals. We discuss here the existence and the computation of a robust controller set for uncertain systems that can be described by parametric models, the unknown parameters of which are assumed to vary between known bounds. Each controlle...

Recently, space science and engineering advanced new problem before theoretical mechanics and motion control theory: a spacecraft directed respinup by the weak restricted control internal forces. The paper presents some results on this problem, which is very actual for energy supply of the communication mini-satellites with plasma thrusters at initial mission modes. Copyright c © 2005 IFAC

Observer based controllers for loop transfer recovery of non-strictly proper systems which are left invertible and of minimum phase are considered. A complete analysis of loop transfer recovery problem using either full or reduced order observer based controller is provided. Key Words-Robust control, loop transfer recovery.

In this note, a fault-tolerant control strategy is proposed from a robust control perspective by applying the recently introduced GIMC (Generalized Internal Mode Control) architecture. This fault-tolerant control design consists of two parts: a nominal performance controller and a robustness controller, and works in such way that when a sensor failure is detected, the controller structure is re...

Robust control systems synthesis is generally recast as a class of robust feasibility problems which is to find a solution satisfying a set of parameter-dependent convex constraints for all possible parameter values. For this class of the problems, a stochastic ellipsoid method with multiple cuts each of which corresponds to each of the constraint is proposed, where a new update rule is present...

The purpose of this paper is to present a robust tracking control algorithm for underactuated biped robots capable of self-balancing in the presence of external disturbances. The biped is modeled as a five-link planar robot with four actuators located at hip and knee joints. A sliding mode control law has been developed for the biped to follow a human-like gait trajectory while keeping the tors...

An approach is presented that can be used to obtain low complexity controllers for an unknown system. In this approach, the identi cation of a set of models is used to represent the incomplete knowledge of the system. Subsequently, the set is used for the synthesis of a robust controller. In order to design low complexity controllers, the aim is to nd a low complexity representation of the set....