In this paper, we evaluate the stability margin of a Fiat Dedra engine model to explore possible applications of theoretical achievements in the parametric approach to robust control problems. The study is based on two versions of the model with uncertainties. One is the original model, which has a multilinear characteristic polynomial, while the other is an affine-linearized model which is obt...

A robust controller is designed for a system consisting of two carts coupled by a spring. Special attention is given to the input saturations. This problem was posed within a benchmark collection for robust control techniques and treated for example at the 1992 ACC. μ analysis and simulation studies illustrate our design.

In this paper new techniques are developed for the analysis of linear time-varying (LTV) systems. These lead to a formally simple treatment of robust control problems for LTV systems, allowing methods more usually restricted to timeinvariant systems to be employed in the time-varying case. As an illustration of this methodology, the so-called H1 synthesis problem is solved for LTV systems.

This paper deals with the robust stability of soft variable-structure controls. More precisely, the control of linear plants subject to parametric uncertainty and actuator saturation is considered. Earlier works are summarized and new results are presented in this paper. It is shown that for all considered types of soft variable-structure controls, the robustness analysis leads to parameter-dep...

This paper proposes a robust control of doublefed induction generator of wind turbine to optimize its production: that means the energy quality and efficiency. The proposed control reposes in the sliding mode control using a multimodel approach which contributes on the minimization of the static error and the chattering phenomenon. This new approach is called sliding mode multimodel control (SM...

This paper describes Nonconvex Polygon Interval Arithmetic (NPIA) and its implementation. NPIA is the arithmetic defined on the set of all polygons in the complex plane, and it is very useful to compute estimates of value sets of transfer functions including uncertain physical parameters in a reasonable computing time. If the transfer function can be written in such a way that each uncertain pa...

In this paper, robust force/motion control strategies are presented for mobile manipulators under both holonomic and nonholonomic constraints in the presence of uncertainties and disturbances. The proposed control strategies guarantee that the system motion converges to the desired manifold with prescribed performance, and constraint force control is developed using the passivity of hybrid join...

A robust Kalman conjecture is defined for the robust Lur’e problem. Specifically, it is conjectured that the nonlinearity’s slope interval for which robust absolute stability is guaranteed corresponds to the robust interval of the uncertain plant. We verify this robust Kalman conjecture for first-order plants perturbed by various norm-bounded unstructured uncertainties. The analysis classifies ...

We examine some recent methods for System Identification, that also deliver non-parametric error bounds, suited for a robust controller design. In particular, we look at Stochastic Embedding, Set Membership Identification and Model Error Modelling. We briefly review the main ideas together with existing computational solutions and present a comparative example.

An investigation on the robustness of a torque vectoring control based on an inverse disturbance observer architecture for a rear wheel driven vehicle with electric single wheel drives is presented within this contribution. To ensure robust control parameters, specifications for eigenvalues (Γ-stability) and bounds on weighted sensitivity and complementary sensitivity functions in frequency dom...