An observer-based adaptive iterative learning control (AILC) scheme is developed for a class of nonlinear systems with unknown time-varying parameters and unknown time-varying delays. The linear matrix inequality (LMI) method is employed to design the nonlinear observer. The designed controller contains a proportional-integral-derivative (PID) feedback term in time domain. The learning law of u...

Polynomially structured low-rank approximation problems occur in • algebraic curve fitting, e.g., conic section fitting, • subspace clustering (generalized principal component analysis), and • nonlinear and parameter-varying system identification. The maximum likelihood estimation principle applied to these nonlinear models leads to nonconvex optimization problems and yields inconsistent estima...

this paper employs nonlinear disturbance observer (ndo) for robust trajectory-free nonlinear model predictive control (nmpc) of biped robots. the ndo is used to reject the additive disturbances caused by parameter uncertainties, unmodeled dynamics, joints friction, and external slow-varying forces acting on the biped robots. in contrary to the slow-varying disturbances, handling sudden pushing ...

1. *Amirkabir University of Technology,Tehran, Iran. Dynamic System Stability Laboratory, Electrical Engineering Department. 2. Amirkabir University of Technology,Tehran, Iran. Dynamic System Stability Laboratory, Electrical Engineering Department.. 3 . Iran University of Science and Technology, Tehran, Iran. Dynamic System Stability Laboratory, Electrical Engineering Department. Abstract This ...

Demand of IP telephone is increasing more and more as broadband IP network is being commonly used by many people. In VoIP, packet loss concealment (PLC) is one of the key subjects to keep speech quality since packet loss occurs in IP network. PLC methods based on Linear Predictive coding (LP) method have been proposed in which LP coefficients and LP residual are repeated to recover speech corre...

Certain characterization properties of time-varying periodic Poisson flows are studied in terms of almost-lack-of-memory (ALM) distributions. Parameter estimation formulas are derived. A method for verifying the hypothesis on the membership of a sample to the class of ALM-distributions is developed. Algorithms for computing critical levels and power of the likelihood ratio test by the Monte Car...

Traditionally, transportation safety analysts have used the empirical Bayes (EB) method to improve the estimate of the long-term mean of individual sites; to correct for the regression-to-the-mean (RTM) bias in before-after studies; and to identify hotspots or high risk locations. The EB method combines two different sources of information: (1) the expected number of crashes estimated via crash...

The random coding capacity of a vector Gaussian arbitrarily varying channel (VGAVC) is determined, along with a simple general method for computing this capacity. The VGAVC is a discrete-time memoryless vector channel with an input power constraint and additive Gaussian noise that is further corrupted by an additive “jamming signal.” The statistics of this jamming signal are unknown and may be ...

In this paper, we proposed an on-line parameter estimation algorithm for a class of time-varying continuous systems with bounded disturbance. In this method, a novel polynomial approximator with a bounded regressor vector is constructed and utilized to approximate the time-varying parameters. The direct leastsquares algorithm is employed to acquire the on-line estimates, so that several useful ...

Abstract: In this paper, the delay-dependent H∞ control problem is considered for Linear Parameter-Varying (LPV) systems with time-varying delays. By using a descriptor model transformation of the system and by applying Park’s inequality for bounding cross terms, some sufficient conditions onH∞ performance analysis are given in terms of Linear Matrix Inequalities (LMIs). Based on these conditio...