This paper presents a trajectory-tracking control strategy for a class of mechanical systems in Hamiltonian form. The class is characterised by a simplectic interconnection arising from the use of generalised coordinates and full actuation. The tracking error dynamic is modelled as a port-Hamiltonian Systems (PHS). The control action is designed to take the error dynamics into a desired closed-...

in this paper, a new analytical method to find a near-optimal high gain controller for the non-minimum phase affine nonlinear systems is introduced. this controller is derived based on the closed form solution of the hamilton-jacobi-bellman (hjb) equation associated with the cheap control problem. this methodology employs an algebraic equation with parametric coefficients for the systems with s...

In this paper we consid~r the des~gn of robust controllers with closed-loop poles constrained to lie in specified regions in the left half complex plane The paper focuses In part~cular on hyperbolic and horizontal strip regions The hyperbolic region places a lower bound on the damping ratio whereas the horizontal strip region places an upper bound on the natural frequency of the closed-loop sys...

in the recent decade, special attention is paid to reverse logistic due to economic benefits of recovery and recycling of used products as well as environmental legislation and social concerns. on the other hand، many researches claim that separately and sequential planning of forward and reverse logistic causes sub-optimality. effective transport activities are also one of the most important c...

has the desired specifications. The main role of state feedback control is to stabilize a given system so that all closed-loop eigenvalues are placed in the left half of the complex plane. The following theorem gives a condition under which is possible to place system poles in the desired locations. Theorem 8.1 Assuming that the pair is controllable, there exists a feedback matrix such that the...

Consider the following problem. Given a discrete-time linear system, find, if possible, linear state-feedback control laws such that under these laws all trajectories originating in the non-negative orthant of the state space remain non-negative while asymptotically deteriorating to the origin. This problem is called feedback stabilizability-holdability problem (FSH). If, in addition, the requi...

The robust servomechanism problem consists in finding an LTI controller for the plant so that: (i) the resultant closed-loop system is asymptotically stable, (ii) asymptotic tracking occurs, and (iii) condition (ii) holds any arbitrary perturbation in the plant model (parametric uncertainty or dynamic uncertainty, including changes in model order) that do not cause the resultant closed-loop sys...

The paper deals with the stability analysis of time-delay reset control systems, for which the resetting law is assumed to satisfy a time-dependent condition. A stability analysis of the closed-loop system is performed based on an appropriate sampled-data system. New linear matrix inequality (LMI) conditions are proposed to ensure the exponential stability of the closed-loop resulting of the co...

In this paper piecewise quadratic stability of closed-loop affine Takagi-Sugeno (ATS) fuzzy systems with linear state-space submodels in the consequent of rules is addressed. The control law is assumed in the form of Parallel Distributed Compensation (PDC). Stability analysis of the closed-loop system is based on piecewise quadratic Lyapunov functions. This technique reduces conservatism of cla...