Real-time control systems are complex to design, and automation support is important. We are interested in systems with multiple tasks, each with multiple modes, implementing a functionality with different levels of quality (e.g., computation approximation), and cost (e.g., computation time, energy). It is complex to control the switching of modes in order to insure properties like bounding cos...

A novel anti-windup PID controller design method under holonomic constraints is proposed for nonlinear Euler-Lagrange systems with actuator saturation. The controller design is based on passivity, quasi-natural potential and saturated-position feedback. According to four saturation cases, switching of four integrating functions in the control law is utilized and four Lyapunov functions, such as...

The introduction of smart phones and other smart gadgets, which offers ubiquitous internet access and other diverse multimedia applications, has lead to the explosive growth of mobile data. However, this also increases the energy consumptions and carbon footprint of the mobile communications industry. The recent advancement in green telecommunication networks explores energy saving through dyna...

Hysteresis current control method is vastly used in PWM inverters because of simplicity in performance, fast control response and good ability in limiting peak current. However, switching frequency in hysteresis current control method with fixed bandwidth has large variation during a cycle and therefore causes non-optimal current ripple generation in output current. One of basic problems in imp...

Two novel approaches to stable legged locomotion control (neural-oscillator based control and switching control) are studied for achieving bipedal locomotion stability. Postural stability is realized by structural dynamics shaping, and gait stability is achieved by synchronization with neural oscillators and switching control. A biologically inspired control with neural oscillators (central pat...

this paper gives a detailed analysis of direct torque control (dtc) strategy in a five-level drive and proposes a 24-sector switching table. the overvoltage problem due to high dv/dt is reduced compared to the 12-sector dtc. using all vectors leads to better flexibility and reduces speed oscillations. simulation and experimental results for a 3kva prototype confirm the proposed solutions. a tms...

In this chapter a new systematic switching control approach to adaptive stabilization of uncertain discrete-time systems with parametric uncertainty is presented. Our approach is based on a localization method which is conceptually diierent from supervisory adaptive control schemes and other existing switching adaptive schemes. Our approach allows for slow parameter drifting, infrequent large p...