Concept

Robustesse (ingénierie)

Publications associées (195)

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Adaptive civil engineering structures

Bernard Adam

Most civil structures are passive and static. They are designed according to serviceability and safety requirements. When subjected to actions, they generally deflect in a passive manner. For example, they do not adapt actively to external loading. A more ...

EPFL2007

Robust Predictive Control Based on Neighboring Extremals

Dominique Bonvin, Sébastien Gros

The performance of a predictive controller is typically poor when the true plant evolution deviates significantly from that predicted by the model. A robust control approach that considers model uncertainty explicitly is then needed. However, it is often d ...

2006

Auto-ajustement de régulateurs PID robustes dans le domaine fréquentiel

Daniel Garcia

This work considers the adjustment of proportional-integral-derivative (PID) controllers. Because of their very simple structures, this kind of controllers are very appreciated, and used abundantly by the industrial community. The restricted number of the ...

EPFL2006

Velocity Scheduling Controller for a Nonholonomic Mobile Robot

Dominique Bonvin, Philippe Müllhaupt, Davide Buccieri

An improvement over classical dynamic feedback linearization for the control of a nonholonomic mobile robot is proposed. The use of a state extension of higher dimension than in the case of dynamic feedback linearization helps reject constant disturbances ...

2006

Structure-preserving eigenvalue solvers for robust stability and controllability estimates

Daniel Kressner

Structured eigenvalue problems feature a prominent role in many algorithms for the computation of robust measures for the stability or controllability of a linear control system. Structures that typically arise are Hamiltonian, skew-Hamiltonian, and symple ...

IEEE2006

PID Controller Design for Multivariable Systems Using Gershgorin Bands

Alireza Karimi, Roland Longchamp, Daniel Garcia

A method to design decentralized PID controllers for MIMO systems is presented in this paper. Each loop is designed separately, but the Gershgorin bands are considered to take interactions into account. The method uses different design parameters: The infi ...

2005

Backstepping and Sliding-mode Techniques Applied to an Indoor Micro Quadrotor

Roland Siegwart

The latest technological progress in sensors, actuators and energy storage devices enables the developments of miniature VTOL systems. In this paper we present the results of two nonlinear control techniques applied to an autonomous micro helicopter called ...

2005

Modeling and control of TCV

Jonathan Bryan Lister

A new approach to the modeling and control of tokamak fusion reactors is presented. A nonlinear model is derived using the classical arguments of Hamiltonian mechanics and a low-order linear model is derived from it. The modeling process used here addresse ...

2005

Iterative Correlation-Based Controller Tuning

Dominique Bonvin, Alireza Karimi, Ljubisa Miskovic

This paper gives an overview on the theoretical results of recently developed algorithms for iterative controller tuning based on the correlation approach. The basic idea is to decorrelate the output error between the achieved and designed closed-loop syst ...

2004

A class of multi-iterate methods to solve systems of nonlinear equations

Michel Bierlaire, Frank Crittin

A new class of methods for solving systems of nonlinear equations is introduced. The main idea is to build a linear model using a population of previous iterates. Contrarily to classical secant methods, where exact interpolation is used, we prefer a least ...

2004