(Ebook PDF) Nonlinear and Adaptive Control Tools and Algorithms for the User 1st edition by Alessandro Astolfi 1860946178 9781860946172 Full chapter

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ISBN 10:         1860946178
ISBN 13: 978-1860946172
Author:          Alessandro Astolfi

Nonlinear and Adaptive Control Tools and Algorithms for the User 1st Table of contents:

1. Observer-Based Solution to the Strictly Positive Real Problem

• J. Collado, R. Lozano, and R. Joha
  1.1 Introduction
  1.2 Preliminaries
  1.3 Stable Case
  1.4 Unstable Case
  1.5 Illustrative Examples
  1.6 Concluding Remarks
• Acknowledgments
• Bibliography

2. Nonlinear Control of Feedforward Systems

• G. Kaliora and A. Astolfi
  2.1 Introduction
  2.2 A Motivating Result and Problem Formulation
  2.3 Two Useful Lemmas
  2.4 Stabilization with Bounded Partial State Feedback
  2.5 Stabilization with Sensors Saturations
  2.6 Applications
  • 2.6.1 Stabilization of a Chain of Integrators with Bounded Control Revisited
  • 2.6.2 Asymptotic Stabilizability by Control of Constant Sign
  • 2.6.3 Asymptotic Stabilization of the TORA
  • 2.6.4 Stabilization of Underactuated Ships on a Linear Course
    2.7 Conclusions
• Bibliography

3. Output Feedback Stabilization of a Class of Uncertain Systems

• D. Karagiannis, A. Astolfi, and R.
  3.1 Introduction
  3.2 Problem Description
  3.3 Output Feedback Stabilization
  • 3.3.1 Reduced-Order Observer Design
  • 3.3.2 Small-Gain Condition
    3.4 Special Cases
  • 3.4.1 Systems without Zero Dynamics
  • 3.4.2 Systems with ISS Zero Dynamics
  • 3.4.3 Unperturbed Systems
  • 3.4.4 Linear Perturbed Systems
    3.5 Examples
  • 3.5.1 A Nonminimum-Phase System
  • 3.5.2 Output Feedback Stabilization of a Nonlinear Benchmark System
    3.6 Conclusions
• Bibliography

4. Matching in the Method of Controlled Lagrangians and IDA-Passivity-Based Control

• G. Blankenstein
  4.1 Introduction
  • 4.1.1 Controlled Lagrangians
  • 4.1.2 Interconnection and Damping Assignment
  • 4.1.3 Contributions and Outline of the Chapter
    4.2 Matching of Euler-Lagrange Systems
  • 4.2.1 General Matching Conditions
  • 4.2.2 Mechanical Systems
  • 4.2.3 Mechanical Systems with Symmetry
  • 4.2.4 The Cart and Pendulum
    4.3 Matching of Port-Controlled Hamiltonian Systems
  • 4.3.1 General Matching Conditions
  • 4.3.2 Mechanical Systems
    4.4 Comparison Between the Two Methods
  • 4.4.1 The Controlled Lagrangians Case of IDA-PBC
  • 4.4.2 The A-method for Hamiltonian Matching
    4.5 Integrability
  • 4.5.1 Integrability of the Structure Matrix
  • 4.5.2 Gyroscopic Terms
  • 4.5.3 Integrability and Matching
    4.6 Conclusions
• Acknowledgments
• Bibliography

5. Virtual Constraints for the Orbital Stabilization of the Pendubot

• F. Grognard and C. Canudas de
  5.1 Introduction
  5.2 Oscillations in Cascade Systems
  • 5.2.1 Attractive Limit Sets in Cascade Systems
  • 5.2.2 Neutrally Stable Oscillations in Cascade Systems
    5.3 Oscillations in the Plane
    5.4 Control of the Pendubot
  • 5.4.1 Sufficient Conditions for Oscillations
  • 5.4.2 Oscillations Shaping
  • 5.4.3 Linear Output
    5.5 Controlled Oscillations
  • 5.5.1 Specifications
  • 5.5.2 Control Design
  • 5.5.3 Simulations
    5.6 Conclusion
• Bibliography

6. Nonlinear Control of a Small Four-Rotor Rotorcraft

• P. Castillo, R. Lozano, P. Garcia, and P. Al
  6.1 Introduction
  6.2 Nonlinear Control of the PVTOL Aircraft
  • 6.2.1 Dynamic Model
  • 6.2.2 Control of the Vertical Displacement
  • 6.2.3 Control of the Roll Angle and the Horizontal Displacement
    • 6.2.3.1 Boundedness of O
    • 6.2.3.2 Boundedness of x
    • 6.2.3.3 Convergence of O and x to Zero
      6.3 Simulation Results
      6.4 Discrete-Time Controller for Continuous-Time Systems with Delay
  • 6.4.1 Problem Formulation
  • 6.4.2 d-step Ahead Prediction Scheme
  • 6.4.3 Prediction-Based State Feedback Control
  • 6.4.4 Stability of the Closed-Loop System
    6.5 Experimental Results
  • 6.5.1 Experimental Platform for the Roll Control
  • 6.5.2 Experiment and Controller Parameters Tuning
  • 6.5.3 Experimental Control Based on State Prediction
    • 6.5.3.1 Real-Time Implementation
    • 6.5.3.2 Experimental Results
      6.6 Conclusion
• Bibliography

7. Global Attitude Control of Spacecraft Using Magnetic Actuators

• A. Astolfi and M. Lovera
  7.1 Introduction
  7.2 Mathematical Model of a Magnetically Actuated Satellite
  7.3 Magnetic Attitude Control for Inertially Pointing Satellites
  • 7.3.1 State Feedback Stabilization
  • 7.3.2 Stabilization without Rate Feedback
    7.4 Magnetic Attitude Control for Earth-Pointing Satellites
  • 7.4.1 Mathematical Model
  • 7.4.2 State Feedback Control
    7.5 Simulation Results
  • 7.5.1 Inertial Pointing
    • 7.5.1.1 State Feedback Control
    • 7.5.1.2 Output Feedback Control
  • 7.5.2 Earth Pointing
    7.6 Conclusions
• Acknowledgments
• Bibliography

8. Control of Fed-Batch Bioreactors. Part I

• J. Picó, E. PicóMarco, J.L. Navarro, and H. DeBatti
  8.1 Introduction
  8.2 Models
  • 8.2.1 Standard Models
  • 8.2.2 Kinetic Functions
  • 8.2.3 Sources of Uncertainty
  • 8.2.4 Production Modes
    8.3 Control Specifications
    8.4 Invariant Control
  • 8.4.1 Partial State Feedback Control and Goal Manifold
  • 8.4.2 Invariance
  • 8.4.3 Stability
    8.5 Dealing with Uncertainties
  • 8.5.1 Specific Growth Rate Error Feedback
  • 8.5.2 Robust Adaptation of the Partial State Feedback Gain
    • 8.5.2.1 Stability Proof
      8.6 Results
  • 8.6.1 Simulation Results
  • 8.6.2 Experimental Results
    8.7 Conclusions and Outlook
• Acknowledgments
• Bibliography

9. Control of Fed-Batch Bioreactors. Part II

• S. Velut and P. Hagander
  9.1 Introduction
  9.2 Process Description
  • 9.2.1 Stirred Bioreactor
  • 9.2.2 Mass Balances and Metabolic Relations
  • 9.2.3 Linearization
    9.3 Probing Control
  • 9.3.1 Control Problem
  • 9.3.2 Probing Control
    9.4 Closed-Loop System Representation
    9.5 Tools for Global Analysis
  • 9.5.1 Stability Analysis
  • 9.5.2 Performance Analysis
    9.6 Case Study
  • 9.6.1 Simulations
  • 9.6.2 Local Analysis
  • 9.6.3 Global Analysis
    • 9.6.3.1 Global Stability
    • 9.6.3.2 Performance
      9.7 Input Versus Output Dynamics
      9.8 Experimental Results
      9.9 Conclusion
• Bibliography
• Appendices A, B, C

10. A Compensator Design Framework for Attenuation of Wave Reflections in Long Cable Actuator-Plant Interactions

• 10.1 Introduction
  10.2 Systems Configuration and Limitations of Current Practice
  • 10.2.1 System Model
  • 10.2.2 Limitations of Impedance Matching
  • 10.2.3 Limitations of RLC LTI Filtering
    10.3 Two Motivating Examples
  • 10.3.1 Microwave Heating
  • 10.3.2 Overvoltage in AC Electrical Drives
    10.4 Scattering Representation
    10.5 Compensator Design Problem
  • 10.5.1 Problem Formulation
  • 10.5.2 An Ideal Full-Decoupling Compensator
    10.6 Discrete-Time Representation and Well-Posedness Analysis
    10.7 A Class of Provably Stable Compensators
  • 10.7.1 Motivations
  • 10.7.2 Properness Conditions
  • 10.7.3 Well-Posedness Conditions
  • 10.7.4 Stability Conditions
  • 10.7.5 Main Result
    10.8 Adaptive Compensators
    10.9 Simulation Results
    10.10 Conclusions and Outlook

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