Journal ArticleDOI
l^{1} -optimal feedback controllers for MIMO discrete-time systems
M. Dahleh,J. Pearson +1 more
TLDR
In this paper, a closed-loop system consisting of a MIMO discrete-time plant and compensator in such a way that the system is internally stable and optimally tracks all persistent bounded inputs is considered.Abstract:
The problem considered in this paper is the design of a closed-loop system consisting of a MIMO discrete-time plant and compensator in such a way that the system is internally stable and optimally tracks all persistent bounded inputs. The solution consists of two parts: first the calculation of the minimum value of the performance index (a weighted transfer function), which is done by solving a linear programming problem; and second, construction of the optimal transfer function by solving a set of linear equations. It is shown that, in general, the discrete-time problem will have a rational solution and thus appears to be of considerable practical significance.read more
Citations
More filters
Journal ArticleDOI
Survey paper: Set invariance in control
TL;DR: An overview of the literature concerning positively invariant sets and their application to the analysis and synthesis of control systems is provided.
Proceedings ArticleDOI
State-dependent Riccati equation techniques: an overview
TL;DR: An overview of state-dependent Riccati equation (SDRE) design techniques can be found in this paper, including nonlinear regulation, nonlinear H/sub /spl infin//, SDRE nonlinear h/sub 2/, and nonlinear filtering.
Journal ArticleDOI
A time-domain approach to model validation
TL;DR: This work uses time-domain input-output data to validate uncertainty models and develops algorithms that are computationally tractable and reduce to (generally nondifferentiable) convex feasibility problems or to linear programming problems.
Journal ArticleDOI
Coordinated collective motion of Groups of autonomous mobile robots: analysis of Vicsek's model
TL;DR: This note gives a qualitative analysis of the dynamics of a system consisting of several mobile robots coordinating their motion using simple local nearest neighbor rules and shows that under some assumptions the headings of all robots will be eventually constant.
Journal ArticleDOI
Performance robustness of discrete-time systems with structured uncertainty
Mustafa Khammash,J.B. Pearson +1 more
TL;DR: In this article, necessary and sufficient conditions for robust stability and performance of a system are provided for an interconnection of a nominal discrete-time plant and a stabilizing controller together with structured, norm-bounded, nonlinear/time-varying perturbations.
References
More filters
Journal ArticleDOI
Modern Wiener-Hopf design of optimal controllers--Part II: The multivariable case
TL;DR: In this paper, a least-square Wiener-Hopf minimization of an appropriately chosen cost functional is proposed to obtain an asymptotically stable and dynamical closed-loop configuration irrespective of whether the plant is proper, stable, or minimum phase.
Journal ArticleDOI
Single-loop feedback-stabilization of linear multivariable dynamical plants
TL;DR: In this paper, the necessary and sufficient conditions for a multivariable plant P(s) with asymptotically stable hidden modes to be stabilizable by means of singleloop feedback employing an asythmically stable controller and feedback sensor were derived.
Journal ArticleDOI
Optimal rejection of persistent bounded disturbances
TL;DR: The present theory is a natural counterpart to the existing theory of optimal disturbance rejection which is based on the assumption that the disturbance to be rejected is generated by a stable system whose input is square-integrable and has unit energy.
Book ChapterDOI
H ∞ -optimal feedback controllers for linear multivariable systems
TL;DR: In this article, the problem of designing, for a linear multivariable plant, a feedback controller which minimizes the H ∞ -norm of a weighted sensitivity matrix is treated.
Proceedings ArticleDOI
Synthesis of robust controllers and filters
TL;DR: In this paper, a general framework for analysis and synthesis of linear control systems is presented, and a new solution to a very general L?/H? optimal control problem is presented.