scispace - formally typeset
Search or ask a question

Showing papers in "Systems & Control Letters in 1993"


Journal ArticleDOI
TL;DR: The existence of linear state feedback and/or output feedback control laws for semi-global exponential stabilization rather than global asymptotic stabilization of linear time-invariant systems was shown in this article.

507 citations


Journal ArticleDOI
TL;DR: In this paper, the authors consider the subclass of set systems which admit a global normal form where only the output and not its time derivatives appear in the nonlinearities and prove that, when the inverse dynamics are "input-to-state stable" (ISS) and a finite gain condition is satisfied, global asymptotic stability can be achieved by dynamic output feedback.

255 citations


Journal ArticleDOI
TL;DR: In this article, a simple solution to the regulation problem of rigid robots based on the availability of only joint position measurements is proposed, which consists of two parts: (1) a gravitation compensation, (2) a linear dynamic first-order compensator.

230 citations


Journal ArticleDOI
TL;DR: In this article, the authors present a globally asymptotically stable controller for point-to-point regulation of robot manipulators with flexible joints that uses only position measurement on the motor side.

153 citations


Journal ArticleDOI
TL;DR: In this paper, the performance bounds for a class of adaptive and non-adaptive systems were derived and compared, showing that adaptation improves the overall performance without the undesirable effects of high gain.

137 citations


Journal ArticleDOI
TL;DR: In this paper, it was shown that storage functions for dissipative systems can be characterised by a partial differential inequality in the weak sense sense, and that this characterisation is stable with respect to perturbations.

115 citations


Journal ArticleDOI
TL;DR: In this paper, the problem of H ∞ filtering for a class of uncertain continuous-time nonlinear systems with real-time-varying parameter uncertainty and unknown initial state was investigated.

110 citations


Journal ArticleDOI
TL;DR: In this article, a new approach is proposed to analyze the stability robustness of generalized state-space systems with structured perturbations, which is computationally simple to use and can easily be calculated by computer.

108 citations


Journal ArticleDOI
TL;DR: In this article, the authors considered the identification of linear systems in the presence of measurement noise which is unknown but bounded in magnitude by some δ > 0 and showed that the optimal identification error is related to the diameter of a so-called uncertainty set and that the latter diameter is upper-bounded by 2δ, if a sufficiently long identification experiment is performed.

104 citations


Journal ArticleDOI
TL;DR: In this article, the authors studied the H ∞ norm approximation of a given stable, proper, rational transfer function by a lower order stable proper transfer function and developed a simple characterization of the solution to the optimal model reduction problem.

96 citations


Journal ArticleDOI
A.S. Morse1
TL;DR: In this paper, an identifier-based solution to a simplified multivariable adaptive stabilization problem solved previously using non-identifier-based methods is presented, which is accomplished by exploiting a new method of discrete-time parameter adjustment called pseudo-continuous tuning.

Journal ArticleDOI
TL;DR: This paper shows that continuous memoryless nonlinear state feedback perform as well as dynamic linear state feedback in l1 optimal control problems with full state feedback.

Journal ArticleDOI
TL;DR: In this article, a linear algorithm is proposed to obtain the nominal model of the plant to be identified and the minimal bound of the uncertainty of nominal model error which is measured by H ∞ -norm.

Journal ArticleDOI
TL;DR: In this paper, necessary and sufficient conditions for stability and performance robustness of discrete-time systems are provided in terms of the spectral radius of a certain nonnegative matrix, which is easily computable and provides a simple and efficient method for computation of the robustness conditions for SISO as well as MIMO perturbations.

Journal ArticleDOI
TL;DR: In this paper, a synchronous multirate digital controller for a continuous-time plant is considered, where the performance objectives are the H∞ and the H2 norms of the periodically time-varying continuous time input-output behavior of the closed loop system.

Journal ArticleDOI
Willem M. Sluis1
TL;DR: In this article, a necessary condition for dynamic feedback linearizability of control systems x dot = f(x,u), in which the controls enter nonlinearly, is derived.

Journal ArticleDOI
TL;DR: In this article, the authors considered the H ∞ guaranteed cost control problem for continuous-time uncertain systems, which consists of the determination of a stabilizing state feedback gain which imposes on all possible closed-loop models an upper bound γ > 0.

Journal ArticleDOI
TL;DR: In this article, a solution to the problem of designing a globally convergent truly decentralized adaptive controller for systems of arbitrary relative degree without any matching assumptions is presented. But it is not shown that the output regulation happens with some guaranteed transient performance bounds, namely, the L 2 norm of the output is uniformly bounded by the initial parameter estimation error.

Journal ArticleDOI
TL;DR: In this article, the set of all complex numbers to which at least one eigenvalue of a matrix A can be shifted by real or complex perturbations of the form A→A(Δ) = A + DΔE, where D and E are fixed matrices and the unknown disturbance matrix Δ satisfies |Δ| 0.

Journal ArticleDOI
TL;DR: In this paper, the problem of observers for discrete-time nonlinear systems has been considered and a simple, easy-to-implement algorithm is given whose convergence properties are guaranteed for autonomous and forced systems.

Journal ArticleDOI
TL;DR: In this article, the existence of solutions to the posed problem is proved by investigating the properties of the zero dynamics, and conditions involving solvability of nonlinear transcendental equations are set.

Journal ArticleDOI
TL;DR: In this article, a new approach to synthesize a class of continuous state feedback controllers for uncertain nonlinear dynamical systems is proposed, based on the stability of the nominal systems.

Journal ArticleDOI
TL;DR: In this article, the authors define a pair of nonlinear parallel projection operators associated with a nonlinear feedback system and show that these projections have equal norms whenever one of the feedback elements is linear.

Journal ArticleDOI
TL;DR: In this article, sufficient algebraic conditions for stabilization and detectability concerning particular classes of systems are included, based on a version of a Lyapunov-like condition proposed by Sontag, which guarantees input to state stability.

Journal ArticleDOI
TL;DR: In this article, it was shown that the angular velocity equations of a symmetric rigid body can be globally stabilized by means of linear feedback when two control torques act on the body.

Journal ArticleDOI
TL;DR: In this article, the authors investigated conditions under which a nonlinear system can be rendered globally asymptotically stable via smooth state feedback for a class of nonlinear discrete-time systems with Lyapunov-stable unforced dynamics.

Journal ArticleDOI
TL;DR: For analytical systems satisfying the strong accessibility rank condition, this paper proved that generic inputs produce trajectories along which the linearized system is controllable, and applied it to the steering of systems without drift.

Journal ArticleDOI
TL;DR: In this article, an extension of the Hamilton-Jacobi equation from the state space system to the descriptor system is presented, where the principle of optimality is interpreted in the sense of the strategy (or closed-loop control).

Journal ArticleDOI
TL;DR: In this paper, the asymptotic behavior of solutions as t → ∞ for coupled matrix Riccati equations occurring in open-loop linear-quadratic Nash games is studied.

Journal ArticleDOI
Yutaka Yamamoto1
TL;DR: In this paper, the authors studied the problem of characterization and computation of the H∞-norm of sampled-data systems using the time-invariant function space model via lifting.