This paper reviews an existing algorithm for adaptive control based on explicit criterion maximization (ECM) and presents an extended version suited for reinforcement learning tasks. Furthermore, assumptions under which the algorithm convergences to a local maxima of a long term utility function are given. Such convergence theorems are very rare for reinforcement learning algorithms working wit...

The synthesis of a feedforward unit for H2 optimal decoupling of measurable or previewed signals in discrete-time linear time-invariant systems is considered. It is shown that an H2 optimal compensator can be achieved by connecting a finite impulse response (FIR) system and a stable dynamic unit. To derive the FIR system convolution profiles an easily implementable computational scheme based on...

This paper studies the problem of state regulation for uncertain state-space models. It formulates a new weighted game-type cost function with bounds on the sizes of the uncertainties in the data. The cost function is of independent interest in its own right and its optimal solution is shown to satisfy an orthogonality condition similar to least-squares designs. When used in the context of stat...

We examine two special cases of the problem of optimal Linear Quadratic Gaussian control of a system whose state is being measured by sensors that communicate with the controller over packet-dropping links. We pose the problem as an information transmission problem. Using a separation principle, we decompose the problem into a standard LQR state-feedback controller design, along with an optimal...

AbstractThis paper considered the problem of stabilization of longitudinal and lateral dynamics of an unmanned autonomous helicopter (UAH) for hovering flight mode in a gusty environment. The controllers design is based on generic linear model which successfully describe the behavior of most smallscale helicopters. A backstepping design procedure is used to design the adaptive controller for lo...

This work attempts to achieve motion control along with vibration suppression of flexible systems by developing a sensorless closed loop LQR controller. Vibration suppression is used as a performance index that has to be minimized so that motion control is achieved with zero residual vibration. An estimation algorithm is combined with the regular LQR to develop sensorless motion and vibration c...

Nowadays, the doubly-fed induction generators (DFIGs) based wind turbines (WTs) are the dominant type of WTs connected to grid. Traditionally the back-to-back converters are used to control the DFIGs. In this paper, an Indirect Matrix Converter (IMC) is proposed to control the generator. Compared with back-to-back converters, IMCs have numerous advantages such as: higher level of robustness, re...

The use of DC/DC voltage converters is widespread and has been studied and improved for a long time. Its nonlinearities and uncertainties have increased the complexity of associated controllers so desired performance is achieved. However, cascade-PI controllers are still used to address this problem due to its relative implementation easiness, relegating the complexity to the tuning strategy. T...

In this paper, we derive the model of a three-magnet positioning device and design a nonlinear control that stabilizes it. The motivation of this work is to develop tools that may have practical significance to, e.g., photolithography and to create a challenging nonlinear control problem which can be used to test novel nonlinear control approaches. The nonlinear controller designed here transfo...