... and robustness of the proposed cascade control system. The stabilities of the inner and outer control loops were proved separately using a Lyapunov approach. Fig. 8 Chamber pressures Chamber pressures Figures 6 – 8 demonstrate that the proposed cascade controllers can successfully drive the piston...

... arms rolling constraint grasping and manipulation stability distributed parameter systems This paper studies a flexible robotic arm with a lightweight link. A lightweight link has many advantages compared to a rigid link, including lower energy consumption, greater payload-to-arm weight...

.... This approach allows the system to track a desired voltage using the maximum power point tracking (MPPT) algorithm while keeping the output current at a moderate level. The stability of the closed loop of the full system is demonstrated by means of Lyapunov theory. The simulation utilizes realistic PV array...

...Mohammad Tavazoei; Mohammad Hassan Asemani This paper focuses on the stability analysis of linear fractional-order systems with fractional-order 0 < α < 2 , in the presence of time-varying uncertainty. To obtain a robust stability condition, we first derive a new upper bound for the norm...

... ) y ( t ) = x ( t ) where A = [ 1 . 0123 0 . 0502 0 . 4920 1 . 0123 ] and B = [ 0 . 0125 0 . 5020 ] . The system without the noise ω ( t ) is stabilizable. The mean-square stabilization...

... shaft dynamic response (vibration), actuator mass and total actuator power losses. Levitation of the spinning rotor and dynamic stability are constraint conditions for the control law search. Nonlinearities include magnetic flux saturation, and current and voltage limits. Pareto frontiers were applied...

... with nonholonomic constraint should be dynamically stabilized based on the robot's configuration. Usual approach is to use mobile wheels for both mobility and stability. In this paper, a new stabilization mechanism of TWMM was presented, and a new control method as dynamical balancing algorithm was proposed...

... controller, which guarantees not only the asymptotically stability of the closed-loop system but also the cost function bound constraint, has been provided in terms of the feasible solutions to the LMI. The simulation examples are included to show the effectiveness of the proposed approach. References...

... in a compact interval, it is easy to evaluate stability regions. The following theorem focuses on stability analysis that is the subject of the paper. Let us consider the uncertain system in Eq. (1) with a Lyapunov candidate satisfying the restrictions (7) λ 1 ‖ x ( t ) ‖ 2...

... 4 includes the stability analysis of this algorithm. Furthermore, it is shown that the algorithm yields exponential flocking and the lower bound for the rate of convergence is determined. In Sec. 5 , some numerical simulations are provided to validate the obtained results. Moreover, effect...

...Kenneth R. Muske; Hashem Ashrafiuon; Sergey Nersesov; Mehdi Nikkhah This paper presents an optimal sliding mode cascade control for stabilization of a class of underactuated nonlinear mechanical systems. A discrete-time, nonlinear model predictive control structure is used to optimally select...

... 22 09 2011 03 01 2012 03 01 2012 adaptive control control system synthesis convergence error analysis industrial control industrial plants nonlinear systems observers parameter estimation time-varying systems extended state observer uncertain systems stability...

... selection of parameters that guarantee stabilization and improve controller performance. The approximate analytical solution is verified through comparison with the exact numerical solution. The control performance predicted by the analytical solution is experimentally demo. 02 02 2011 26 09 2011...

... of the proposed approach are illustrated through numerical examples. 05 05 2010 04 08 2011 29 12 2011 29 12 2011 closed loop systems continuous time systems convergence delay systems feedback iterative methods linear matrix inequalities linear systems stability In many...

... circuits. Stability is illustrated by comparing traditional circuits with the proposed circuit. The motivations, derivations, and proofs of the system dynamical stabilities are presented. Control algorithms including stability control and sliding to the desired working region are presented. Experiments...

...Jia Xu; Jitao Sun; Dong Yue In this paper, we introduce a new concept of stochastic finite-time stability for a class of nonlinear Markovian switching systems with impulsive effects. Based on the linear matrix inequality approach, sufficient conditions for the system to be stochastic finite-time...

... selected modes of full-order model will be attained to guarantee the stability of closed-loop system. A 16-DOF proportional damped truss system Comparison between the full-model, SEREP, and SREM FRFs Comparison between the full-model, modal truncation, and SREM FRFs It can...

... the computation of a suitable delayed time. The delayed time, which is based on the measured vibrations, is then employed in the trajectory planner to set the reference input. The stability of the controller is discussed and its effectiveness is proved by applying it to a four-bar planar linkage with flexible...

...Thomas E. Alberts; Aravind M. Hanasoge; Ashraf M. Omran This paper presents a simple analysis evaluating the stability threshold for magnetically levitated flexible structures using dissipative colocated controllers. It is shown that with such a control structure, the controller that stabilizes...

...Kaouther Laabidi; Rihem Farkh; Mekki Ksouri In this paper, we consider the control of time delay system by first order controller. By Using the Hermite-Biehler theorem, which is applicable to quasipolynomials, we seek a stability region of the controller for first order delay systems. 20 12...