In this paper we consider the problem of graceful performance degradation, for affine non-minimum phase nonlinear systems. The method is an optimization based scheme, that gives a constructive way to re-shape on-line the output reference for the post-fault system, and explicitly take into account the actuators and states saturations. The on-line output reference reshaping is associated with an ...

In this paper, we investigate the parameterization of all robust stabilizing repetitive controllers for single-input/single-output continuous time non-minimum phase systems. The repetitive control system is a type of servo mechanism designed for a periodic reference input. When repetitive control design methods are applied to real systems, the influence of uncertainties in the plant must be con...

This paper addresses stability issues of the learning process when the distal in space approach (Jordan & Rumelhart 92) is used to learn inverse models of dynamical systems. Both direct and indirect versions of command error approximations are analysed on linear plants. It is shown that none of them is suitable when the plant is an unstable non-minimum phase system. When the plant is unstable, ...

In the following paper we investigate two algorithms for blind signal deconvolution that has been proposed in the literature. We derive a clear interpretation of the information theoretic objective function in terms of signal processing and show that only one is appropriate to solve the deconvolution problem, while the other will only work if the unknown filter is constrained to be minimum phas...

In this paper it is shown that Iterative Feedback Tuning can be applied to multi-input multi-output linear sampled-data systems where the sensed outputs may be sampled at diierent rates and where the controllers operate synchronously at one sampling rate which is a multiple of the sampling rates of the controlled variables. It is also shown that generalized sampled-data hold functions (GSDHF) c...

1 Overview This brief report summarizes our recent research eeorts on the underactuated vehicle control problem. I will describe the papers and books I reviewed this week and comment on a new literature search. I will also summarize the steps we have taken toward solving the control problem for the vehicle and our current plans for the next few weeks. You will notice that the main title of this...