Stabilization of simple mechanical systems in finite time with continuous state feedback is considered here. The dynamics is represented by generalized (local) coordinates. A general methodology to construct control Lyapunov functions that are Hölder continuous and that can be used to show finite-time stability of the feedback controlled system, is presented. This construction also gives the fe...

Behavioral goals are achieved reliably and repeatedly with movements rarely reproducible in their detail. Here we offer an explanation: we show that not only are variability and goal achievement compatible, but indeed that allowing variability in redundant dimensions is the optimal control strategy in the face of uncertainty. The optimal feedback control laws for typical motor tasks obey a “min...

Recently, there has been significant development in the existence of mild solutions for fractional semilinear integro-differential equations but optimal control is not provided. The aim of this paper is studying optimal feedback control for fractional semilinear integro-differential equations in an arbitrary Banach space associated with operators ...

This paper studies the technique of the composite nonlinear feedback (CNF) control for a class of cascade nonlinear systems with input saturation. The objective of this paper is to improve the transient performance of the closed-loop system by designing a CNF control law such that the output of the system tracks a step input rapidly with small overshoot and at the same time maintains the stabil...

The problem of controlling a perturbed open loop system so as to keep its performance errors within bounds is considered. The objective is to maximize the time during which performance errors remain below a prescribed ceiling, while the controlled system’s parameters are within a specified neighborhood of their nominal values. It is shown that there is an optimal open-loop controller that achie...