Beating heart surgery is an important milestone in cardiac surgery. This technique is currently made possible thanks to the use of passive mechanical stabilizers. Nevertheless, the commercially available stabilizers exhibit significant residual motion, which is inherent to their geometry. Recently, a novel active stabilizer based on a compliant structure has been designed. High-speed visual fee...

In this paper, we present a new stabilization condition for discrete-time Takagi–Sugeno (T–S) fuzzy systems. To this end, the previously developed periodic nonparallel distributed compensation (non-PDC) control law is extended to the more general one whose gain matrix has a block lower triangular matrix form. A distinguished feature of the proposed control law is that it uses a discrete-time fe...

We consider the following problem: given a linear system and an LTL−X formula over a set of linear predicates in its state variables, find a feedback control law with polyhedral bounds and a set of initial states so that all trajectories of the closed loop system satisfy the formula. Our solution to this problem consists of three main steps. First, we partition the state space in accordance wit...

This paper presents a solution to the boundary stabilization of a symmetric composite laminated plate in free transverse vibration. The symmetric composite laminated plate dynamics is presented by a linear fourth order partial differential equation (PDE). A linear control law is constructed to stabilize the plate. The control force consists of feedback of the velocity at the boundary of the pla...

The problem of designing robust controller for discrete two-time-scale interval systems, conveniently represented using interval matrix notion, is considered. The original full order twotime-scale interval system is decomposed into slow and fast subsystems using interval arithmetic. The controllers designed independently to stabilize these two subsystems are combined to get a composite controll...

In this contribution, a H∞-controller as derived in [1] is used for the tracking of a sufficiently smooth reference trajectory. The systems under investigation are bilinear SISO power systems [2] with dynamic feedback. Two theorems are presented, when the conditions on time-varying iISS (integral input-to-state stability) and the suboptimality of the feedback control law are fulfilled along the...

A delayed feedback control framework for stabilizing unstable periodic orbits of linear periodic time-varying systems is proposed. In this framework, act-and-wait approach is utilized for switching a delayed feedback controller on and off alternately at every integer multiples of the period of the system. By analyzing the monodromymatrix of the closed-loop system, we obtain conditions under whi...

There are many design factors and choices when mounting a vision system for robot control. Such factors may include the kinematic and dynamic characteristics in the robot’s degrees of freedom (DOF), which determine at what velocities and fields-of-view a camera can achieve. Another factor is that additional motion components (such as pan-tilt units) are often mounted on a robot and introduce sy...

Various types and techniques of on-line approximation have been used in feedback control of uncertain nonlinear systems. In many practical applications, saturation of the control input influences significantly the performance of adaptive and learning control systems. This article addresses the issue of control input saturation in on-line approximation based control of nonlinear systems. A modif...

The objective of this paper is to develop the mathematical model of the non-linear power system that can be utilized for implementing the different class of controller. The controller designed here fulfills the stability requirement of the system as well as makes the system transiently stable. The linearization of the power system is done using direct feedback linearization technique andthe mod...