For a family of discrete-time systems with input and output and uncertain terms, a new interval observer is designed. Its main feature is that it is composed of two copies of classical observers, whose corresponding error equations are in general not nonnegative. It is shown how this interval observer can be modified to cope with the presence of nonlinear terms and disturbances and how asymptot...

This note deals with chained form systems with strongly nonlinear unmodeled dynamics and external disturbances. The objective is to design a robust nonlinear state feedback law such that the closed-loop system is globally -exponentially stable. We propose a novel switching control strategy involving the use of input/state scaling and integrator backstepping. The new features of our controllers ...

L1 adaptive control architecture introduced in [1]– [4] ensures that the input and the output of an uncertain linear system track the input and output of a desired linear system during the transient phase, in addition to asymptotic tracking. In this paper, we extend the L1 adaptive controller to multi–input multi–output systems in the presence of unmatched time-varying disturbances. Simulation ...

Robustness is of vital importance for any feedback controlled system. An important example of such a feedback controlled system is an active vibration isolation system (AVIS), which is used to isolate highly accurate systems from external disturbances in multiple degrees-of-freedom. The underlying idea of vibration isolation is based on the concept of skyhook damping, see [1]. Model-based robus...

Resumo: This paper presents a nonlinear controller for uncertain single-input–single-output nonlinear systems (SISO). The adopted approach is based on the feedback linearization strategy and enhanced by a fuzzy inference algorithm to cope with modeling inaccuracies and external disturbances that can arise. An application of this nonlinear controller to a second-order nonlinear system is also pr...

This article proposes a disturbance observer-based Sliding Mode Control (SMC) approach for the robust synchronization of uncertain delayed chaotic systems. is done by, first, examining and analyzing electronic behavior master slave Sprott Then, synthesizing sliding mode control technique using newly proposed surface that encompasses error between slave. The external disturbances affecting syste...

In this study, a robust model predictive controller is designed for the trajectory tracking problem of non-holonomic constrained wheeled mobile robot based on an elliptic invariant set approach. The time-varying error kinematics and uses linear matrix inequalities to solve taking uncertainties into account. are modelled by fractional transform form contain both parameter perturbations external ...

This study proposes an observer-based Composite Nonlinear Feedback (CNF) controller for the robust tracking of uncertain singular systems with input saturation, nonlinear function, time-delay, and disturbances. The suggested control law is designed based states reconstructed using a observer so as to increase steady-state accuracy improve robustness. CNF developed on Generalized Riccati Equatio...

This paper proposes an adaptive integral-type terminal sliding mode tracking control approach based on the active disturbance rejection for uncertain nonlinear systems subject to input saturation and external disturbances. Its main objective is achieve zero error in presence of disturbances, parametric uncertainties saturation; ubiquitous problems most practical engineering systems. The propose...

The control of micro- and nanoscale systems is a vital yet challenging endeavor because their small size high sensitivity, which make them susceptible to environmental factors such as temperature humidity. Despite promising methods proposed for these in literature, the chattering controller, convergence time, robustness against wide range disturbances still require further attention. To tackle ...