H∞ controller for active magnetic bearings (AMBs) with flexible rotor system was designed in this paper. The motion equations of AMBs and flexible rotor system are built based on finite element methods (FEM). Weighting function matrices of H∞ controller for AMBs are studied for both the sensitivity and the complementary sensitivity of H∞ control theory. The simulation shows that the H∞ control ...

oceanographic images obtained from environmental satellites by a wide range of sensors allow characterizing natural phenomena through different physical measurements. for instance sea surface temperature (sst) images, altimetry data and ocean color data can be used for characterizing currents and vortex structures in the ocean. the purpose of this thesis is to derive a relatively complete frame...

In this paper, slewing maneuver of a flexible spacecraft with large angle of rotation is considered and assuming structural frequency uncertainties a robust minimum-time optimal control law is developed. Considering typical bang-bang control commands with multiple symmetrical switches, a parameter optimization procedure is introduced to find the control forces/torques. The constrained minimizat...

In this paper, stability analysis of walking gaits and robustness analysis are developed for a five-link and four-actuator biped robot. Stability conditions are derived by studying unactuated dynamics and using the Poincaré map associated with periodic walking gaits. A stable gait is designed by an optimization process satisfying physical constraints and stability conditions. Also, considering...