operator's role in industrial control centers takes place in time, which is one of the most important determinants of whether an expected action is going to be successful or not. in certain situations, due to the complex nature of the work, the existing interfaces and already prepared procedures do not meet the dynamic requirements of operator's cognitive demands, making the control tasks unnec...

This paper studies various stability issues for parametrized families of systems, including problems of stabilization with respect to sets. The study of such families is motivated by robust control applications. A Lyapunov-theoretic necessary and sufficient characterization is obtained for a natural notion of robust uniform set stability; this characterization allows replacing ad hoc conditions...

Numerical evaluation of the optimal nonlinear robust control requires estimating the impact of parameter uncertainties on the system output. The main goal of the paper is to propose a method for estimating the norm of an output trajectory deviation from the nominal trajectory for nonlinear uncertain, discrete-time systems. The measure of the deviation allows us to evaluate the robustness of any...

A descriptor system describes a natural representation for physical systems. In general, the continuous-time descriptor representation consists of differential and algebraic equations, and the discrete-time descriptor system has difference and algebraic equations. Hence, the descriptor system is a generalized representation of the state-space system. This system appears in various physical syst...

Abstract: In this work, μ-synthesis is employed to stabilize a model of the resistive wall mode (RWM) instability in the DIII-D tokamak. The GA/Far-Tech DIII-D RWM model is used to derive a linear state space representation of the mode dynamics. The key term in the model characterizing the magnitude of the instability is the time-varying uncertain parameter cpp, which is related to the RWM grow...

We envision a humanoid robot to serve as source of additional motion-support forces in assistance for frail persons. In this context, we present control strategy adaptively regulate its assistive force contribution. First, identify human model torque optimal execution priori known motion task from sample recordings performed by healthy individual. utilize the identified proposed position discre...

The spacecraft simulator robust control through H∞-based linear matrix inequality (LMI) and robust adaptive method is  implemented. The spacecraft attitude control subsystem simulator consists of  a  platform, an air-bearing and a set of four reaction wheels. This set up provides a free real-time three degree of freedom rotation. Spacecraft simulators are applied in upgrading and checking the c...

Knowledge of the uncertainty in an identified model is of great importance, in particular for robust controller design. This paper presents a method for estimating the uncertainty in a state-space helicopter dynamical model identified from the subspace-based method using bootstrap techniques. Computer simulations are carried out to illustrate the operation and performance of the method using co...

This paper studies various stability issues for parameterized families of systems, including problems of stabilization with respect to sets. The study of such families is motivated by robust control applications. A Lyapunov-theoretic necessary and sufficient characterization is obtained for a natural notion of robust uniform set stability; this characterization allows replacing ad hoc condition...

A robust control approach is proposed for a high speed manipulator using a hybrid computed torque control approach in the state space. The high-speed manipulator is driven by permanent magnet dc motors to track a trajectory in the joint space in the presence of disturbances. Tracking problem is analyzed in the state space where the completed models are considered for actuators. The proposed con...