LMIs in Control Systems

Author: Guang-Ren Duan
Publisher: CRC Press
ISBN: 1466583002
Format: PDF, ePub, Docs
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Although LMI has emerged as a powerful tool with applications across the major domains of systems and control, there has been a need for a textbook that provides an accessible introduction to LMIs in control systems analysis and design. Filling this need, LMIs in Control Systems: Analysis, Design and Applications focuses on the basic analysis and design problems of both continuous- and discrete-time linear systems based on LMI methods. Providing a broad and systematic introduction to the rich content of LMI-based control systems analysis and design with applications, this book is suitable for use as a textbook for LMI related courses for senior undergraduate and postgraduate students in the fields of control systems theory and applications. Key Features: Contains four well-structured parts: Preliminaries, Control Systems Analysis, Control Systems Design, and Applications, as well as an introduction chapter and two appendices Summarizes most of the technical lemmas used in the book in one preliminary chapter, and classifies them systematically into different groups Includes many examples, exercises, and practical application backgrounds Summarizes most of the important results in the last section of each chapter, in a clear table format Contains an application part composed of two chapters that respectively deal with missile and satellite attitude control using LMI techniques Provides a brief and clear introduction to the use of the LMI Lab in the MATLAB® Robust Control Toolbox Supplies detailed proofs for all main results, with lengthy ones clearly divided into different subsections or steps—using elementary mathematics whenever possible Uses a pole assignment Benchmark problem, in support of the numerical reliability of LMI techniques, where numerical unreliability could result in a solution to a problem that is far from the true one A Solutions Manual and MATLAB® codes for the computational exercise problems and examples are available upon qualified course adoption.

Generalized Sylvester Equations

Author: Guang-Ren Duan
Publisher: CRC Press
ISBN: 1482243989
Format: PDF, ePub, Mobi
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Provides One Unified Formula That Gives Solutions to Several Types of GSEs Generalized Sylvester equations (GSEs) are applied in many fields, including applied mathematics, systems and control, and signal processing. Generalized Sylvester Equations: Unified Parametric Solutions presents a unified parametric approach for solving various types of GSEs. In an extremely neat and elegant matrix form, the book provides a single unified parametric solution formula for all the types of GSEs, which further reduces to a specific clear vector form when the parameter matrix F in the equations is a Jordan matrix. Particularly, when the parameter matrix F is diagonal, the reduced vector form becomes extremely simple. The first chapter introduces several types of GSEs and gives a brief overview of solutions to GSEs. The two subsequent chapters then show the importance of GSEs using four typical control design applications and discuss the F‐coprimeness of a pair of polynomial matrices. The next several chapters deal with parametric solutions to GSEs. The final two chapters present analytical solutions to normal Sylvester equations (NSEs), including the well‐known continuous‐ and discrete‐time Lyapunov equations. An appendix provides the proofs of some theorems. The book can be used as a reference for graduate and senior undergraduate courses in applied mathematics and control systems analysis and design. It will also be useful to readers interested in research and applications based on Sylvester equations.

Handling Uncertainty and Networked Structure in Robot Control

Author: Lucian Bușoniu
Publisher: Springer
ISBN: 3319263277
Format: PDF, ePub, Docs
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This book focuses on two challenges posed in robot control by the increasing adoption of robots in the everyday human environment: uncertainty and networked communication. Part I of the book describes learning control to address environmental uncertainty. Part II discusses state estimation, active sensing, and complex scenario perception to tackle sensing uncertainty. Part III completes the book with control of networked robots and multi-robot teams. Each chapter features in-depth technical coverage and case studies highlighting the applicability of the techniques, with real robots or in simulation. Platforms include mobile ground, aerial, and underwater robots, as well as humanoid robots and robot arms. Source code and experimental data are available at http://extras.springer.com. The text gathers contributions from academic and industry experts, and offers a valuable resource for researchers or graduate students in robot control and perception. It also benefits researchers in related areas, such as computer vision, nonlinear and learning control, and multi-agent systems.

Analysis and Control of Complex Dynamical Systems

Author: Kazuyuki Aihara
Publisher: Springer
ISBN: 4431550135
Format: PDF, ePub, Mobi
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This book is the first to report on theoretical breakthroughs on control of complex dynamical systems developed by collaborative researchers in the two fields of dynamical systems theory and control theory. As well, its basic point of view is of three kinds of complexity: bifurcation phenomena subject to model uncertainty, complex behavior including periodic/quasi-periodic orbits as well as chaotic orbits, and network complexity emerging from dynamical interactions between subsystems. Analysis and Control of Complex Dynamical Systems offers a valuable resource for mathematicians, physicists, and biophysicists, as well as for researchers in nonlinear science and control engineering, allowing them to develop a better fundamental understanding of the analysis and control synthesis of such complex systems.

Control of Stochastic Hybrid Systems based on Probabilistic Reachable Set Computation

Author: Leonhard Asselborn
Publisher: kassel university press GmbH
ISBN: 3737605807
Format: PDF, ePub
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This thesis proposes an algorithmic controller synthesis based on the computation of probabilistic reachable sets for stochastic hybrid systems. Hybrid systems consist in general of a composition of discrete and continuous valued dynamics, and are able to capture a wide range of physical phenomena. The stochasticity is considered in form of normally distributed initial continuous states and normally distributed disturbances, resulting in stochastic hybrid systems.

The reachable sets describe all states, which are reachable by a system for a given initialization of the system state, inputs, disturbances, and time horizon. For stochastic hybrid systems, these sets are probabilistic, since the system state and disturbance are random variables. This thesis introduces probabilistic reachable sets with a predefined confidence, which are used in an optimization based procedure for the determination of stabilizing control inputs. Besides the stabilizing property, the controlled dynamics also observes input constraints, as well as, so-called chance constraints for the continuous state.

The main contribution of this thesis is the formulation of an algorithmic control procedure for each considerd type of stochastic hybrid systems, where different discrete dynamics are considered. First, a control procedure for a deterministic system with bounded disturbances is introduced, and thereafter a probabilistic distribution of the system state and the disturbance is assumed. The formulation of probabilistic reachable sets with a predefined confidence is subsequently used in a control procedure for a stochastic hybrid system, in which the switch of the continuous dynamics is externally induced. Finally, the control procedure based on reachable set computation is extended to a type of stochastic hybrid systems with autonomously switching of the continuous dynamics.


Hierachical and Cooperative Control of Complex Distributed Systems

Author: Martin Jilg
Publisher: kassel university press GmbH
ISBN: 3737604541
Format: PDF, Docs
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In this thesis, a theory of hierarchical and cooperative feedback control for spatially distributed, physically interconnected systems is developed. A Particular requirement is that the resulting control laws are suitable for a distributed implementation, meaning that the subsystems are equipped with local controllers and exchange information via a communication network. DIstributed control schemes steadily gain practical significance, since an ever increasing number of technical systems, like power networks or manufacturing systems, is comprised of an interconnection of subsystems. IN combination with competitive, powerful embedded computers and modern communication technology, a distributed implementation of control algorithms intuitively makes sense for such types of systems.

Analysis and Design of Singular Markovian Jump Systems

Author: Guoliang Wang
Publisher: Springer
ISBN: 3319087231
Format: PDF, Kindle
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This monograph is an up-to-date presentation of the analysis and design of singular Markovian jump systems (SMJSs) in which the transition rate matrix of the underlying systems is generally uncertain, partially unknown and designed. The problems addressed include stability, stabilization, H∞ control and filtering, observer design, and adaptive control. applications of Markov process are investigated by using Lyapunov theory, linear matrix inequalities (LMIs), S-procedure and the stochastic Barbalat’s Lemma, among other techniques. Features of the book include: · study of the stability problem for SMJSs with general transition rate matrices (TRMs); · stabilization for SMJSs by TRM design, noise control, proportional-derivative and partially mode-dependent control, in terms of LMIs with and without equation constraints; · mode-dependent and mode-independent H∞ control solutions with development of a type of disordered controller; · observer-based controllers of SMJSs in which both the designed observer and controller are either mode-dependent or mode-independent; · consideration of robust H∞ filtering in terms of uncertain TRM or filter parameters leading to a method for totally mode-independent filtering · development of LMI-based conditions for a class of adaptive state feedback controllers with almost-certainly-bounded estimated error and almost-certainly-asymptotically-stable corres ponding closed-loop system states · applications of Markov process on singular systems with norm bounded uncertainties and time-varying delays Analysis and Design of Singular Markovian Jump Systems contains valuable reference material for academic researchers wishing to explore the area. The contents are also suitable for a one-semester graduate course.

Analysis and Synthesis of Fuzzy Control Systems

Author: Gang Feng
Publisher: CRC Press
ISBN: 9781420092653
Format: PDF, Kindle
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Fuzzy logic control (FLC) has proven to be a popular control methodology for many complex systems in industry, and is often used with great success as an alternative to conventional control techniques. However, because it is fundamentally model free, conventional FLC suffers from a lack of tools for systematic stability analysis and controller design. To address this problem, many model-based fuzzy control approaches have been developed, with the fuzzy dynamic model or the Takagi and Sugeno (T–S) fuzzy model-based approaches receiving the greatest attention. Analysis and Synthesis of Fuzzy Control Systems: A Model-Based Approach offers a unique reference devoted to the systematic analysis and synthesis of model-based fuzzy control systems. After giving a brief review of the varieties of FLC, including the T–S fuzzy model-based control, it fully explains the fundamental concepts of fuzzy sets, fuzzy logic, and fuzzy systems. This enables the book to be self-contained and provides a basis for later chapters, which cover: T–S fuzzy modeling and identification via nonlinear models or data Stability analysis of T–S fuzzy systems Stabilization controller synthesis as well as robust H∞ and observer and output feedback controller synthesis Robust controller synthesis of uncertain T–S fuzzy systems Time-delay T–S fuzzy systems Fuzzy model predictive control Robust fuzzy filtering Adaptive control of T–S fuzzy systems A reference for scientists and engineers in systems and control, the book also serves the needs of graduate students exploring fuzzy logic control. It readily demonstrates that conventional control technology and fuzzy logic control can be elegantly combined and further developed so that disadvantages of conventional FLC can be avoided and the horizon of conventional control technology greatly extended. Many chapters feature application simulation examples and practical numerical examples based on MATLAB®.

Networked Control Systems

Author: Fei-Yue Wang
Publisher: Springer Science & Business Media
ISBN: 1848002157
Format: PDF, ePub
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Networked control systems (NCS) confer advantages of cost reduction, system diagnosis and flexibility, minimizing wiring and simplifying the addition and replacement of individual elements; efficient data sharing makes taking globally intelligent control decisions easier with NCS. The applications of NCS range from the large scale of factory automation and plant monitoring to the smaller networks of computers in modern cars, places and autonomous robots. Networked Control Systems presents recent results in stability and robustness analysis and new developments related to networked fuzzy and optimal control. Many chapters contain case-studies, experimental, simulation or other application-related work showing how the theories put forward can be implemented. The state-of-the art research reported in this volume by an international team of contributors makes it an essential reference for researchers and postgraduate students in control, electrical, computer and mechanical engineering and computer science.

Bio Inspired Computational Intelligence and Applications

Author: Dr. Kang Li
Publisher: Springer Science & Business Media
ISBN: 9783540747680
Format: PDF, ePub
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The two volumes LNCS 4688 and LNBI 4689 constitute the refereed proceedings of the International Conference on Life System Modeling and Simulation, LSMS 2007, held in Shanghai, China, in September 2007. The 147 revised full papers were carefully reviewed and selected from 1383 submissions. The 84 papers of LNCS 4688 are organized in topical sections on advanced neural network theory, algorithms and application, advanced evolutionary computing theory, algorithms and application, ant colonies and particle swarm optimization and application, fuzzy, neural, fuzzy-neuro hybrids and application, intelligent modeling, monitoring, and control of complex nonlinear systems, as well as biomedical signal processing, imaging and visualization.