Eigenvalue assignment of two-dimensional systems using PID controllers

New results on dynamic output state feedback stabilization of some class of time-varying nonlinear Caputo derivative systems

In this paper, we consider the robust output containment problem of linear heterogeneous multi-agent systems under fixed directed networks. A distributed dynamic observer based on the leaders' measurable output was designed to estimate a convex combination of the leaders' states. First, for the case of followers with identical state dimensions, distributed dynamic state and output feedback control laws were designed based on the state-coupled item and the internal model compensator to drive the uncertain followers into the leaders' convex hull within the output regulation framework. Subsequently, we extended theoretical results to the case where followers have nonidentical state dimensions. By establishing virtual errors between the dynamic observer and followers, a new distributed dynamic output feedback control law was constructed using only the states of the compensator to solve the robust output containment problem. Finally, two numerical simulations verified the effectiveness of the designed schemes.

A note on the problem of semiglobal practical stabilization of uncertain nonlinear systems via dynamic output feedback

On Anti-Integrator-Windup and Global Asymptotic Stability

A systematic design method of assigning a required time-scale structure to a given multivariable system is developed. The time-scale structure assignment is done by high-gain feedback of either state or output. The method decomposes a given multivariable system into several single-input, single-output (SISO) subsystems each of which is designed separately. A standard method of design for SISO system is developed, and this forms a building block for multivariable system design. The state-feedback design depends only on the stage sequence of the given system, while the output feedback design depends only on the set of integers which specifies the order of infinite zeros. In this way the design is made robust with respect to certain parameter uncertainties. >

This rigorous yet accessible textbook provides broad and systematic coverage of linear multivariable control systems, including several new approaches to design. In addition to standard state space theory, it provides a new measurement-based approach to linear systems, including a generalization of Thevenin's Theorem, a new single-input single-output approach to multivariable control, and analytical design of PID controllers developed by the authors. Each result is rigorously proved and combined with specific control systems applications, such as the servomechanism problem, the fragility of high order controllers, multivariable control, and PID controllers. Illustrative examples solved using MATLAB and SIMULINK, with easily reusable programming scripts, are included throughout. Numerous end-of-chapter homework problems enhance understanding. Based on course-tested material, this textbook is ideal for a single or two-semester graduate course on linear multivariable control systems in aerospace, chemical, electrical and mechanical engineering.

This rigorous yet accessible textbook provides broad and systematic coverage of linear multivariable control systems, including several new approaches to design. In addition to standard state space theory, it provides a new measurement-based approach to linear systems, including a generalization of Thevenin's Theorem, a new single-input single-output approach to multivariable control, and analytical design of PID controllers developed by the authors. Each result is rigorously proved and combined with specific control systems applications, such as the servomechanism problem, the fragility of high order controllers, multivariable control, and PID controllers. Illustrative examples solved using MATLAB and SIMULINK, with easily reusable programming scripts, are included throughout. Numerous end-of-chapter homework problems enhance understanding. Based on course-tested material, this textbook is ideal for a single or two-semester graduate course on linear multivariable control systems in aerospace, chemical, electrical and mechanical engineering.

This rigorous yet accessible textbook provides broad and systematic coverage of linear multivariable control systems, including several new approaches to design. In addition to standard state space theory, it provides a new measurement-based approach to linear systems, including a generalization of Thevenin's Theorem, a new single-input single-output approach to multivariable control, and analytical design of PID controllers developed by the authors. Each result is rigorously proved and combined with specific control systems applications, such as the servomechanism problem, the fragility of high order controllers, multivariable control, and PID controllers. Illustrative examples solved using MATLAB and SIMULINK, with easily reusable programming scripts, are included throughout. Numerous end-of-chapter homework problems enhance understanding. Based on course-tested material, this textbook is ideal for a single or two-semester graduate course on linear multivariable control systems in aerospace, chemical, electrical and mechanical engineering.

This rigorous yet accessible textbook provides broad and systematic coverage of linear multivariable control systems, including several new approaches to design. In addition to standard state space theory, it provides a new measurement-based approach to linear systems, including a generalization of Thevenin's Theorem, a new single-input single-output approach to multivariable control, and analytical design of PID controllers developed by the authors. Each result is rigorously proved and combined with specific control systems applications, such as the servomechanism problem, the fragility of high order controllers, multivariable control, and PID controllers. Illustrative examples solved using MATLAB and SIMULINK, with easily reusable programming scripts, are included throughout. Numerous end-of-chapter homework problems enhance understanding. Based on course-tested material, this textbook is ideal for a single or two-semester graduate course on linear multivariable control systems in aerospace, chemical, electrical and mechanical engineering.

This rigorous yet accessible textbook provides broad and systematic coverage of linear multivariable control systems, including several new approaches to design. In addition to standard state space theory, it provides a new measurement-based approach to linear systems, including a generalization of Thevenin's Theorem, a new single-input single-output approach to multivariable control, and analytical design of PID controllers developed by the authors. Each result is rigorously proved and combined with specific control systems applications, such as the servomechanism problem, the fragility of high order controllers, multivariable control, and PID controllers. Illustrative examples solved using MATLAB and SIMULINK, with easily reusable programming scripts, are included throughout. Numerous end-of-chapter homework problems enhance understanding. Based on course-tested material, this textbook is ideal for a single or two-semester graduate course on linear multivariable control systems in aerospace, chemical, electrical and mechanical engineering.

This rigorous yet accessible textbook provides broad and systematic coverage of linear multivariable control systems, including several new approaches to design. In addition to standard state space theory, it provides a new measurement-based approach to linear systems, including a generalization of Thevenin's Theorem, a new single-input single-output approach to multivariable control, and analytical design of PID controllers developed by the authors. Each result is rigorously proved and combined with specific control systems applications, such as the servomechanism problem, the fragility of high order controllers, multivariable control, and PID controllers. Illustrative examples solved using MATLAB and SIMULINK, with easily reusable programming scripts, are included throughout. Numerous end-of-chapter homework problems enhance understanding. Based on course-tested material, this textbook is ideal for a single or two-semester graduate course on linear multivariable control systems in aerospace, chemical, electrical and mechanical engineering.

This paper investigates the dynamic output feedback control for a class of nonlinear time-delay system with the triangular structure-type uncertain nonlinearity satisfying the linear growth condition. A dynamic observer-based output feedback robust stabilizing controller is presented on the basis of Lyapunov-Razumikhin function design strategy. A numerical example is given to illustrate the effectiveness of this method.

Both dynamic state feedback as well as output feedback tracking control designs are presented in this paper for constrained robot systems under parametric uncertainties and external disturbances. The previous studies on tracking control design, not considering the velocity measurements, address only the unconstrained robot design. In contrast, a dynamic output feedback controller based on a linear and reduced-order observer that uses only position measurements is proposed here for the first time to treat the trajectory tracking control problem of constrained robot systems. Both adaptive state feedback control schemes and adaptive output feedback control schemes with a guaranteed H∞ performance are constructed. It is shown that all the variables of the closed-loop system are bounded and a pre-assigned H∞ tracking performance is achieved, in the sense that the influence of external disturbance on the tracking motion error can be attenuated to any specified level. Moreover, it is also shown that the motion and force trajectories asymptotically converge to the desired ones as the dynamic model of robot systems is well-known and the external disturbance is neglected. Finally, simulation examples are presented to illustrate the tracking performance of a two-link robotic manipulator with a circular path constraint by the proposed control algorithms. © 1998 John Wiley & Sons, Ltd.

This paper presents as its main result a new and efficient method for the design of optimal dynamic compensators for linear multivariable control systems. The discussion starts with a fresh look into the design of optimal constant gain output feedback. In this context, three new ideas are introduced that prove their usefulness particularly in the dynamic compensator case: (1) deterministic measurement disturbances are included in the formulation of the underlying optimization problem, (2) the relationship between a deterministic and a stochastic optimal control problem is shown, (3) by proper modifications of the quadratic cost function, the effort involved in the numerical solution of the optimal output feedback problem is considerably reduced. Furthermore, a canonical form is introduced for the dynamic compensator and an algorithm is developed for the numerical computation of its free parameters. It is based on quasi-newtonian gradient methods and an efficient line search procedure. Some features of the new design method are demonstrated by means of a non-trivial benchmark taken from the literature.

Cooperative output regulation problem for linear time-delay multi-agent systems under switching network