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Nonlinear Control Systems: An Introduction
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This chapter discusses the development of Geometric Theory of State Feedback for Multi-Input Multi-Output Systems and its applications in control systems.Abstract:
Contents: Local Decompositions of Control Systems.- Global Decompositions of Control Systems.- Input-Output Maps and Realization Theory.- Elementary Theory of Nonlinear Feedback for Single-Input Single-Output Systems.- Elementary Theory of Nonlinear Feedback for Multi-Input Multi-Output Systems.- Geometric Theory of State Feedback: Tools.- Geometric Theory of State Feedback: Applications.- Appendix A.- Appendix B.- Bibliographical Notes.- References.- Subject Index.read more
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Proceedings ArticleDOI
Dynamic state feedback control of constrained robot manipulators
TL;DR: The problem of simultaneous motion and force control of a constrained robot manipulator is studied and the system stability, in particular the force control stability, is theoretically analyzed.
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Robust PI controller design for nonlinear systems via fuzzy modelling approach
TL;DR: Simulation results show that the transient stability can be improved by using a fuzzy PI controller when large faults appear in the system, compared to the conventional PI controller designed by Using a linearization method around the steady state.
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Efficient eigenvalue assignments for general linear MIMO systems
Michael Valášek,Nejat Olgac +1 more
TL;DR: This paper deals with the transformation of linear, multi-input multi-output (MIMO) systems into Frobenius canonical form, with the ultimate objective of developing a new, computationally efficient methodology for a poleplacement procedure.
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Predictive Suboptimal Consensus of Multiagent Systems With Nonlinear Dynamics
Yinyan Zhang,Shuai Li +1 more
TL;DR: A unified framework for designing distributed control laws to achieve the consensus of linear and nonlinear multiagent systems is proposed and it is proved that the proposed suboptimal control laws tend to be optimal with time.
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Harmonic Disturbance Observer for Nonlinear Systems
TL;DR: In this article, a nonlinear harmonic disturbance observer for nonlinear systems subject to harmonics is designed and stability of the proposed observer is established using passivity approach and a systematic procedure to choose the nonlinear gain function in the observer is proposed.