In this paper, the UDE (uncertainty and disturbance estimator) based robust control is investigated for a class of non-affine nonlinear systems in a normal form. Control system design for non-affine nonlinear systems is one of the most difficult problems due to the lack of mathematical tools. This is also true even for the exact known non-affine systems because of the difficulty in explicitly c...

Abstract— We study the recently introduced notion of outputinput stability, which is a robust variant of the minimumphase property for general smooth nonlinear control systems. This paper develops the theory of output-input stability in the multi-input, multi-output setting. We show that output-input stability is a combination of two system properties, one related to detectability and the other...

A recently suggested general anti-windup (AW) compensation scheme is applied to the nonlinear simulation model of the 1 16 scaled BAe Hawk aircraft model used for wind tunnel experiments. The Hawk is modelled as a nonlinear affine system subject to input constraints and has a primary control system consisting of an inner-loop nonlinear dynamic inversion controller and an outer-loop linear PID c...

Constructive coordinate transformation problem of nonlinear systems into a particular state-affine systems and the analysis of their equivalence, is here tackled. The proposed method is based on the analysis of the Input/Output Differential Equation structure of these nonlinear systems. The polynomial structure of their corresponding state-affine system is then explicitly given and new necessar...

The purpose of this paper is to provide sufficient conditions for asymptotic stabilization in probability of nonlinear control stochastic differential systems by means of smooth state feedback laws. In particular, we prove that, as in the case of stochastic differential systems affine in the control, one can compute stabilizing feedback laws provided the unforced stochastic differential system ...

In this paper, we consider the problem of constructing abstractions of affine control systems that preserve reachability properties, and, in particular, local accessibility. In this framework, showing local accessibility of the higher level, abstracted model is equivalent to showing local accessibility of the, more detailed, lower level model. Given an affine control system and a smooth surject...

Dissipativity and feedback passivity properties in nonlinear multiple-input multiple-output (MIMO) discrete-time systems are examined. Three main results are presented. First, necessary and sufficient conditions for the characterization of a class of dissipative nonlinear MIMO discrete-time systems in general form are proposed. The class of dissipativity treated is referred to as Quadratic Stor...

This paper deals with the optimal control problem for a class of affine nonlinear discrete-time systems. By introducing a sensitivity parameter and expanding the system variables into a Maclaurin series around it, we transform the original optimal control problem for affine nonlinear discrete-time systems into the optimal control problem for a sequence of linear discretetime systems. The optima...

This thesis investigates optimal trajectory tracking of nonlinear dynamical systems with affine controls. The control task is to enforce the system state to follow a prescribed desired trajectory as closely as possible. The concept of so-called exactly realizable trajectories is proposed. For exactly realizable desired trajectories exists a control signal which enforces the state to exactly fol...

In this paper we consider three-tank system as a hybrid system with discrete (on/off) valves and then we use Hybrid System’s Description Language to acquire a Mixed Logical Dynamical model of the system. In order to obtain a relatively accurate model of three-tank system, instead of using straight line approximation method for linearization of valves in whole space, we use Piecewise Affine meth...