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In this paper, the Multirate Integral Sliding Mode (MRISM) control strategy for nonlinear discrete-time systems is proposed. The MRISM controller acts at a faster sampling time than a high level controller, and reduces the effect of model uncertainties and ...
In this paper an algorithm for nonlinear explicit model predictive control is introduced based on multiresolution function approximation that returns a low complexity approximate receding horizon control law built on a hierarchy of second order interpolets ...
In many control problems the measurement instances might not be available in a periodically-equally-distributed way and/or the same might occur to the control signals. Moreover, due to the sensor evaluation time, calibration of actuators and sensors, or re ...
We propose a model predictive control approach to path-following problems of constrained nonlinear systems. We directly consider input and state constraints. Furthermore, we introduce an extended corridor path-following problem, which allows to add spatial ...
Polyhedral operations play a central role in constrained control. One of the most fundamental operations is that of projection, required both by addition and multiplication. This thesis investigates projection and its relation to multi-parametric linear op ...
The control of the current, position and shape of an elongated cross-section tokamak plasma is complicated by the instability of the plasma vertical position. In this case the control becomes a significant problem when saturation of the power supplies is c ...
Abstract Predictive control and feedback linearization are two popular approaches for the control of nonlinear systems. In this paper, a cascade combination of the two metho ds is proposed, where control based on input- output feedback linearization forms ...
Current and future directions in the development of numerical methods and numerical software for control problems are discussed. Major challenges include the demand for higher accuracy, robustness of the method with respect to uncertainties in the data or ...
Predictive Control of Unstable Nonminimum-phase Systems K. Guemghar, B. Srinivasan, Ph. Mullhaupt, D. Bonvin ´ Institut d’Automatique, Ecole Polytechnique F´d´rale de Lausanne, ee CH-1015 Lausanne, Switzerland. Predictive control is a very effective approac ...
In this paper we investigate some analysis and control problems with performance for discrete-time hybrid systems in the Piece-Wise Affine form. By using arguments from the dissipativity theory for nonlinear systems, we show that Hinfty analysis and syn ...
