We consider multirate digital control systems which consist of an interconnection of a continuous-time nonlin-ear plant (described by ordinary diierential equations) and a digital lifted controller (described by ordinary difference equations). The input to the digital controller consists of the multirate sampled output of the plant and the input to the continuous-time plant consists of the mult...

In this paper, a dynamic output feedback switching controller for statedelayed linear systems with input quantization and matched disturbances is proposed. The developed controller consists of linear and nonlinear parts, of which the former is constructed with full dynamics to determine the fundamental characteristics of the output feedback, and the latter eliminates the influence of input quan...

This paper addresses the problem of stabilizing a nonlinear system by means of quantized output feedback. A conceptual framework is presented in which the control input is generated by an observer-based feedback controller acting on quantized output measurements. A stabilization result is established under the assumption that this observer-based controller possesses robustness with respect to o...

Nonlinear control theory has received considerable attention m the last decades. As a result, there exists nowadays a sophisticated framework using (differential) geometric methods for dealmg with a large number of controller design problems. The book under review, Nonlinear Control Design, Geometric, Adaptiue and Robust presents according to the back cover of the book “A self-contained introdu...

The paper addresses the problem of controlling the joints of an flexible joint robot with a state feedback controller and proposes a gradual way of extending such a controller towards feedback linearization. The global asymptotic stability for the state feedback controller with gravity compensation is proven. Experimental results on the DLR light-weight robots validate the method.

Traditionally, missile autopilots have been designed using linear control approaches with gain scheduling. Autopilot design is typically carried out in the frequency domain and the plant is linearized around various operating points on the trajectory. Moreover, three single axis autopilots are usually designed without considering the interaction among the motion axes, i.e., the autopilots in ea...

This paper presents an approach for sliding mode control(SMC) and feedback linearization(FBL) of systems with relative order singularities. Traditionally, SMC and FBL are designed by taking derivatives of the output until the control signal appears(at the r 1 derivative). When a system does not have a well-defined relative degree (r1), the coefficient that multiplies u vanishes for some region ...

This paper considers a trajectory-tracking control algorithm for underactuated marine vehicles moving horizontally in which the current North-East-Down frame is constant. modification of scheme based on input-output feedback linearization method application condition that vehicle symmetric with respect to left and right sides. The proposed can be applied fully asymmetric model, and, therefore, ...

This paper addresses the problem of stabilizing a class of nonlinear systems by using an fuzzy output feedback controller. First, a class of nonlinear systems is approximated by a Takagi–Sugeno (TS) fuzzy model. Then, based on a well-known Lyapunov functional approach, we develop a technique for designing an fuzzy output feedback control law which guarantees the 2 gain from an exogenous input t...