output regulation of uncertain nonlinear systems is available in our digital library an online access to it is set as public so you can get it instantly. Our digital library saves in multiple locations, allowing you to get the most less latency time to download any of our books like this one. Kindly say, the output regulation of uncertain nonlinear systems is universally compatible with any devices to read.

Output Regulation Of Uncertain Nonlinear Systems

The definition of asymptotic stability for a trajectory of a hybrid system with state-triggered jumps is not straightforward. Nearby solutions jump at close but noncoincident times, making the standard notion of closeness, based on vector difference, unsuitable to compare trajectories point-wise in time. With tracking control as ultimate goal, we propose a notion of stability and a constructive stability proof based on sensitivity analysis applicable to single-jump-flow trajectories. A key role in the analysis is played by a time-triggered linear system, associated with the discontinuous trajectory of interest, whose uniform asymptotic stability suffices to guarantee the asymptotic stability of the original discontinuous trajectory. As an illustrative example, the stability analysis is applied to guarantee closed-loop stable tracking for a trajectory with velocity jumps of a 2 DoF mechanical system with unilateral constraint.

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Hybrid Systems With State-Triggered Jumps: Sensitivity-Based Stability Analysis With Application to Trajectory Tracking

In this article, an interval estimation problem is investigated for a class of discrete-time nonlinear networked systems under stealthy attacks. An improved event-triggered protocol with the time-varying threshold is adopted to govern the received signals of interval observer so as to reduce unnecessary data communication burden. Stealthy attacks occurring in both the sensors and the plant come typically from open networked environments. For the addressed issue, a novel interval observer is developed to estimate the bounds of both system states and stealthy attacks. A sufficient condition is proposed by using the positive system theory and Lyapunov stability theory. Furthermore, the desired observer gain is obtained in terms of the solution to certain matrix inequalities. In comparison with the traditional approach that attacks are regarded as bounded disturbances, the estimated upper and lower bounds of attack signals can effectively reduce the conservatism of estimation performance, and avoid the implementation difficulties of the designed observer in practical engineering. Finally, the effectiveness of the proposed interval observers is verified by a numerical simulation.

Interval Observer Design Under Stealthy Attacks and Improved Event-Triggered Protocols

control theory and design an rh2 and rh viewpoint is available in our book collection an online access to it is set as public so you can get it instantly. Our books collection saves in multiple locations, allowing you to get the most less latency time to download any of our books like this one. Merely said, the control theory and design an rh2 and rh viewpoint is universally compatible with any devices to read.

Control Theory And Design An Rh2 And Rh Viewpoint

Funding information Eurofusion; MIUR-FFABR Summary In this paper, a novel data-driven approach is proposed to obtain output regulation for linear systems in finite time, requiring only limited information about the plant and the exosystem. The resulting regulator is robust because it does not rely on the knowledge of perturbed or even nominal plant parameters. Finite-time regulation is achieved, combining the use of the external-model technique with the deadbeat controller design. The core of the method lies in an error-feedback reset logic for the state of the external model to compensate for the contribution of the exosystem on the plant output response, then an ancillary control law is introduced to steer the error to zero in a preassigned time interval, trading-off between convergence rate, and control effort.

Data-driven, robust output regulation in finite time for LTI systems: Data-driven, robust output regulation in finite time for LTI systems

This letter details the solution to the linear quadratic (LQ) optimal control problem over a finite interval for time-varying multimodal linear systems with time-triggered jumps. By multimodal, we mean the possibility for the system state to change dimension after every jump. To this end, we introduce the multimodal jumping differential Riccati equation (MJDRE) and we show the equivalence between the solvability of the optimal control problem and the existence of a finite solution of the MJDRE. The MJDRE can be used to compute optimal tracking gains for hybrid system with state-triggered jumps, whose state dimension changes after each jump (multimodal hybrid system). This is demonstrated, in simulation, on a 2DOF dual-mass spring-damper system.

On Linear Quadratic Optimal Control for Time-Varying Multimodal Linear Systems With Time-Triggered Jumps

In this paper, we propose an external model based, data-driven approach to robust output regulation. No a priori knowledge of the plant and the exosystem is required, apart from their state dimension and an upper bound on the exosystem frequencies. The core of the method lies in an error-feedback reset logic for the state of the external model.

Data driven, robust output regulation via external models

This letter solves the robust hybrid output regulation problem for uncertain hybrid MIMO linear systems with periodic jumps without assuming any a priori structural decomposition on the considered plant (as in the semi-classical case). A necessary condition for solving the problem is that the regulator must incorporate an internal model of the flow zero-dynamics, which is typically affected by uncertainties and then unknown. Hence, the proposed regulator consists of three units: a data-driven estimator of the flow zero-dynamics, a flow internal model in charge of achieving regulation during flows, including also the (estimated) modes of the uncertain flow zero-dynamics, and a jump internal model in charge of imposing a suitable reset of the state at each jump.

Robust Hybrid Output Regulation for Linear Systems With Periodic Jumps: The Non-Semiclassical Case

In this paper, a data-driven design of deadbeat controllers is proposed, which is later generalized in different ways to allow for trade-offs between convergence rate and control effort. The proposed design is then combined with recent work on data-driven output regulation using external models, and shown to provide very desirable responses.

Giovanni de Carolis

Papers

On Linear Quadratic Optimal Control for Time-Varying Multimodal Linear Systems With Time-Triggered Jumps

Data driven, robust output regulation via external models

Data-driven, robust output regulation in finite time for LTI systems: Data-driven, robust output regulation in finite time for LTI systems

Robust Hybrid Output Regulation for Linear Systems With Periodic Jumps: The Non-Semiclassical Case

Data-driven deadbeat control with application to output regulation