Online ISSN
1751-8652
Print ISSN
1751-8644
IET Control Theory & Applications
Volume 1, Issue 1, January 2007
Volumes & issues:
Volume 1, Issue 1
January 2007
-
- Author(s): X. Hong
- Source: IET Control Theory & Applications, Volume 1, Issue 1, p. 1 –8
- DOI: 10.1049/iet-cta:20050039
- Type: Article
- + Show details - Hide details
-
p.
1
–8
(8)
A modified radial basis function (RBF) neural network and its identification algorithm based on observational data with heterogeneous noise are introduced. The transformed system output of Box–Cox is represented by the RBF neural network. To identify the model from observational data, the singular value decomposition of the full regression matrix consisting of basis functions formed by system input data is initially carried out and a new fast identification method is then developed using Gauss–Newton algorithm to derive the required Box–Cox transformation, based on a maximum likelihood estimator (MLE) for a model base spanned by the largest eigenvectors. Finally, the Box–Cox transformation-based RBF neural network, with good generalisation and sparsity, is identified based on the derived optimal Box–Cox transformation and an orthogonal forward regression algorithm using a pseudo-PRESS statistic to select a sparse RBF model with good generalisation. The proposed algorithm and its efficacy are demonstrated with numerical examples. - Author(s): Y.-F. Peng and C.-M. Lin
- Source: IET Control Theory & Applications, Volume 1, Issue 1, p. 9 –17
- DOI: 10.1049/iet-cta:20050348
- Type: Article
- + Show details - Hide details
-
p.
9
–17
(9)
As the dynamic characteristics of the linear ultrasonic motor (LUSM) are highly nonlinear and time varying, and the model difficult to obtain, it is difficult to design a suitable controller to achieve high-precision position control using conventional control techniques. An intelligent control system using an adaptive recurrent cerebellar model articulation controller (RCMAC) is proposed for the motion control of the LUSM. In this study, by adding feedback connections in the association memory space, the proposed dynamic structure of RCMAC has superior capability to the conventional static cerebellar model articulation controller in efficient learning mechanism and dynamic response. The control laws of the intelligent motion control system are derived on the basis of the H∞ control technique so that robust tracking performance can be achieved. By using the proposed intelligent motion control system, the LUSM control system possesses the advantages of high-precision tracking performance with robustness to system uncertainties. The effectiveness of the proposed control system is verified by hardware experiments of the LUSM motion control under the conditions of uncertainties. In addition, the advantages of the proposed control scheme are indicated in comparison with an integral-proportional position control system. - Author(s): M.F. Miranda ; R.H.C. Takahashi ; F.G. Jota
- Source: IET Control Theory & Applications, Volume 1, Issue 1, p. 18 –24
- DOI: 10.1049/iet-cta:20050188
- Type: Article
- + Show details - Hide details
-
p.
18
–24
(7)
The issue of introducing generic design constraints (practical or ‘real-life’ constraints) in robust control design procedures is discussed. A strategy, based on a hierarchy of optimisation methods, is proposed here. An ℋ∞ design algorithm constitutes the bottom level of this hierarchy, and a general-purpose optimisation algorithm (a genetic algorithm) is employed for tuning the parameters of the ℋ∞ controller, searching for the solutions that satisfy the earlier mentioned ‘practical constraints’. Practical results obtained in a pilot-scale plant with fluid-level and flow-rate control as controlled variables are included to show the applicability of the proposed method. - Author(s): J. Zhou and X.Z. Shen
- Source: IET Control Theory & Applications, Volume 1, Issue 1, p. 25 –32
- DOI: 10.1049/iet-cta:20050240
- Type: Article
- + Show details - Hide details
-
p.
25
–32
(8)
A class of uncertain nonlinear systems with unknown dead-zone nonlinearity is considered. By using the backstepping technique, robust adaptive control algorithms are developed. Unlike some existing control schemes for systems with dead-zone, the developed backstepping controllers do not require the uncertain parameters to lie within known intervals. It is shown that the proposed controllers guarantee not only global stability but also transient performance. - Author(s): C.-L. Lin and T.-L. Wang
- Source: IET Control Theory & Applications, Volume 1, Issue 1, p. 33 –43
- DOI: 10.1049/iet-cta:20045253
- Type: Article
- + Show details - Hide details
-
p.
33
–43
(11)
An integrated fuzzy-logic-based missile side force control mechanism is proposed for the interception of ballistic targets in three-dimensional space. Stringent scenarios when the missile intercepts the ballistic target at higher attitudes are considered. Conventional guidance systems with the aerodynamically controlled mechanism alone are usually incapable of engaging a high-speed target at low-air-density layers. To overcome the difficulty because of insufficient manoeuvrability, a fuzzy side force control scheme configured with two additional auxiliary thrusters is proposed to generate extra transverse acceleration and thereby to reinforce the engagement performance. A simulation study proves the effectiveness of the proposed approach. - Author(s): A. Bazaei and M. Moallem
- Source: IET Control Theory & Applications, Volume 1, Issue 1, p. 44 –50
- DOI: 10.1049/iet-cta:20050259
- Type: Article
- + Show details - Hide details
-
p.
44
–50
(7)
A feedforward neural network tuning algorithm is developed, which is suitable for identification of multi-input multi-output nonlinear functions, by utilising the learning method of a conventional neuro-adaptive control technique. Using Lyapunov functions, it is shown that not only the approximation error converges to values that have arbitrarily reducible upper bounds, but also the weights of the neural network remain bounded. The effectiveness of the identification method and its application in force-control of an uncertain robot interacting with an unknown flexible environment are investigated as an application example. - Author(s): W.-S. Lin ; L.-H. Chang ; P.-C. Yang
- Source: IET Control Theory & Applications, Volume 1, Issue 1, p. 51 –57
- DOI: 10.1049/iet-cta:20050341
- Type: Article
- + Show details - Hide details
-
p.
51
–57
(7)
When a wheeled autonomous robot drives with wheel slips, the velocity and posture control becomes difficult. An ideal automatic driving control system should be able to comply with changes in slip conditions so as to optimise the control performance. Using dual heuristic programming and multi-layer perceptron neural networks, an adaptive critic anti-slip control design is developed to achieve this goal. The critic structure enables neural network learning by satisfying the Bellman equation so that the inclination of the action performance can be assessed to improve the control parameters. A slip model of the robot vehicle is derived. The adaptive critic anti-slip control system is verified extensively by computer simulation. The result shows that the performance is significantly better than that of using traditional fuzzy control. - Author(s): K. Chafaa ; M. Ghanaï ; K. Benmahammed
- Source: IET Control Theory & Applications, Volume 1, Issue 1, p. 58 –64
- DOI: 10.1049/iet-cta:20050268
- Type: Article
- + Show details - Hide details
-
p.
58
–64
(7)
Fuzzy modelling is an important topic in fuzzy sets theory and applications. An efficient method for automatically constructing a Takagi–Sugeno (TS) fuzzy model, where only the input–output data of the identified system are available, is presented. The TS fuzzy model is automatically generated by the process of structure and parameter identification. In the structure identification step, a clustering method based on the Gustafson–Kessel algorithm is proposed. In the parameter identification step, the Kalman filter algorithm is applied twice to choose the parameter values in the premise and consequent parts from the given membership functions defined point-wise and from input–output data. The effectiveness of this approach is demonstrated using two examples. - Author(s): K. Peng ; G. Cheng ; B.M. Chen ; T.H. Lee
- Source: IET Control Theory & Applications, Volume 1, Issue 1, p. 65 –74
- DOI: 10.1049/iet-cta:20050205
- Type: Article
- + Show details - Hide details
-
p.
65
–74
(10)
The authors present an enhanced composite nonlinear feedback (CNF) control technique for discrete-time systems with input saturation and with external disturbances. The conventional CNF control is proven to be capable of yielding better transient performance in tracking control for systems with input saturation. However, when the given system has external disturbances as in most practical situations, the conventional CNF control yields some steady-state errors in the resulting output response. The enhanced CNF technique presented is an extension of the conventional one. It retains the good transient properties of the conventional CNF control and at the same time has the additional capacity for eliminating steady-state bias because of unknown constant disturbances. A numerical example and practical disk drive servo system design are provided to demonstrate the effectiveness of this control technique. Experimental results show that the new design yields a huge improvement over classical approaches. - Author(s): Y. Xia ; P. Shi ; G.P. Liu ; D. Rees ; J. Han
- Source: IET Control Theory & Applications, Volume 1, Issue 1, p. 75 –81
- DOI: 10.1049/iet-cta:20050138
- Type: Article
- + Show details - Hide details
-
p.
75
–81
(7)
A new nonlinear control method for multivariable systems with time delay is presented. It is based on a unique active disturbance rejection concept. The proposed active disturbance rejection controller (ADRC) consists of the tracking differentiator, the extended state observer and the nonlinear proportional derivative (PD) controller. In this approach, the systems with time delay in the input are viewed as higher-order systems without time delay in the input, the approximation error between the nominal systems and real systems and other uncertainties, all of which are seen as ‘disturbance’ by ADRC and are actively compensated. The techniques developed here can be effectively used in engineering systems, such as chemical processes, and this is demonstrated by an example. - Author(s): C.C. Kung and T.-H. Chen
- Source: IET Control Theory & Applications, Volume 1, Issue 1, p. 82 –89
- DOI: 10.1049/iet-cta:20050160
- Type: Article
- + Show details - Hide details
-
p.
82
–89
(8)
An H∞ tracking-based adaptive fuzzy sliding mode controller (H∞ AFSMC) is proposed for a class of nonlinear systems involving system uncertainties and external disturbances. The H∞ tracking control design method and the adaptive fuzzy sliding mode control technique are combined in the design of the H∞ AFSMC controller. By the Lyapunov theory, it is shown that the proposed controller has the following advantages: it can inhibit the chattering phenomenon and can guarantee the H∞ tracking performance to attenuate the lumped uncertainties caused by the unmodelled dynamics, the approximation error and the external disturbances. Subsequently, the problem of H∞ AFSMC design is characterised in terms of an eigenvalue problem, which can be efficiently solved by using convex optimisation techniques. Finally, an inverted pendulum system is simulated to demonstrate the validity and effectiveness of the proposed controller. - Author(s): K.K. Tan ; S. Zhao ; J.-X. Xu
- Source: IET Control Theory & Applications, Volume 1, Issue 1, p. 90 –96
- DOI: 10.1049/iet-cta:20050004
- Type: Article
- + Show details - Hide details
-
p.
90
–96
(7)
A new approach is proposed for closed-loop automatic tuning of a proportional integral derivative (PID) controller based on an iterative learning control (ILC) approach. The method does not require the control loop to be detached for tuning, but it requires the input of a periodic reference signal. Such a reference signal can be the natural reference signal of the control system when it is used to execute a repetitive sequence, or it can be an excitation signal purely for tuning the PID controller. A modified ILC scheme iteratively changes the control signal by adjusting the reference signal only. Once a satisfactory performance is achieved, the PID controller is then tuned by fitting the controller to yield close input and output characteristics of the ILC component. Simulation and experimental results are furnished to illustrate the effectiveness of the proposed tuning method. - Author(s): Q.-X. Chen ; L. Yu ; W.-A. Zhang
- Source: IET Control Theory & Applications, Volume 1, Issue 1, p. 97 –103
- DOI: 10.1049/iet-cta:20050443
- Type: Article
- + Show details - Hide details
-
p.
97
–103
(7)
The dynamic output feedback guaranteed cost control problem is investigated for a class of uncertain discrete-time systems with multiple time-varying state delays and norm-bounded parameter uncertainties. Attention is focused on the design of the dynamic output feedback controllers such that the resulting closed-loop system is asymptotically stable and an adequate level of performance is also guaranteed. Delay-dependent sufficient conditions for the existence of the desired guaranteed cost controllers are derived without involving model transformation and bounding technique for cross terms, and these conditions are formulated in terms of nonlinear matrix inequalities. An iterative algorithm involving convex optimisations is presented to solve these nonlinear matrix inequalities. Finally, a numerical example is given to demonstrate the effectiveness of the proposed results. - Author(s): W.S. Ra ; I.H. Whang ; J.Y. Ahn ; J.B. Park
- Source: IET Control Theory & Applications, Volume 1, Issue 1, p. 104 –112
- DOI: 10.1049/iet-cta:20050331
- Type: Article
- + Show details - Hide details
-
p.
104
–112
(9)
A recursive robust least-squares (RLS) estimator is newly proposed for time-varying linear systems with a noise-corrupted measurement matrix. Analysing the properties of the conventional least-squares (LS) estimator for uncertain systems reaches an inspirational result that the LS estimates contains both scale-factor and bias errors. The scale-factor error is caused by the auto-correlation of the stochastic parametric uncertainties in the measurement matrix, and the bias error comes from the correlation between the uncertain stochastic parameters and measurement noises. On the basis of this observation, the RLS estimation problem is reformulated as finding a compensation strategy of these errors. It is shown that the magnitudes of weighted errors in nominal LS estimates can be approximated using the known statistical information on the stochastic parametric uncertainty. Therefore if the existence condition is satisfied, a recursive RLS solution is readily derived by introducing the proper error compensation method to the nominal LS estimator. The suboptimality of the proposed approach is assessed in the sense of unbiasedness. Furthermore, it is pointed out that the proposed estimator can be reduced to the existing robust Kalman filter under certain conditions. A direct frequency estimation problem is provided to show that the proposed estimator can be an excellent choice for the actual estimator design problem in the presence of stochastic parametric uncertainties. - Author(s): K.-S. Lu and G.-M. Liu
- Source: IET Control Theory & Applications, Volume 1, Issue 1, p. 113 –118
- DOI: 10.1049/iet-cta:20050213
- Type: Article
- + Show details - Hide details
-
p.
113
–118
(6)
It is shown that the type-1 matrix satisfies two already introduced properties, namely, that the non-zero eigenvalues of A have multiplicity 1 for almost all z∈Rq, and that a non-zero constant r is not an eigenvalue of A for almost all z∈Rq. That is, the characteristic polynomial in ring F(z)[λ] has no non-zero constant eigenvalues or non-zero multiple factors. Some controllability criteria of the linear systems, including the ones whose characteristic polynomials have no non-zero multiple factors in F(z)[λ], are derived. The application of the type-1 matrix and system to structural controllability is shown. - Author(s): C.-M. Lee and I.K. Fong
- Source: IET Control Theory & Applications, Volume 1, Issue 1, p. 119 –126
- DOI: 10.1049/iet-cta:20060042
- Type: Article
- + Show details - Hide details
-
p.
119
–126
(8)
The robust H∞ optimal filtering problem for singular systems with norm-bounded uncertainties in all system matrices is considered. On the basis of the admissibility assumption of the uncertain singular systems, one singular and two normal filter design methods are proposed under the linear-matrix inequality framework. A numerical example is provided to illustrate the application of all three proposed methods. - Author(s): C. Lin ; Q.-G. Wang ; T.H. Lee ; Y. He
- Source: IET Control Theory & Applications, Volume 1, Issue 1, p. 127 –132
- DOI: 10.1049/iet-cta:20050165
- Type: Article
- + Show details - Hide details
-
p.
127
–132
(6)
The asymptotic stability of Takagi–Sugeno (T–S) fuzzy systems with state delay is studied. The aim is not only to extend the fuzzy weighting-dependent Lyapunov function method for delay-free fuzzy systems to time-delay fuzzy systems, but also to provide state-of-the-art stability analysis methods for time-delay fuzzy systems. First, the fuzzy weighting-dependent Lyapunov–Krasovskii functional is used to reduce the conservatism entailed in previous results using quadratic Lyapunov–Krasovskii functionals. By adopting a recent technique called the free-weighting matrix method, a delay-dependent stability condition that improves existing results for time-delay fuzzy systems is derived. Next, an augmented fuzzy weighting-dependent Lyapunov–Krasovskii functional is proposed to further reduce the conservatism. Delay-independent stability criteria are easy corollaries of the present delay-dependent results. Finally, three examples are given to illustrate the reduced conservativeness achieved by the proposed methods. - Author(s): S.K. Nguang and P. Shi
- Source: IET Control Theory & Applications, Volume 1, Issue 1, p. 133 –140
- DOI: 10.1049/iet-cta:20060133
- Type: Article
- + Show details - Hide details
-
p.
133
–140
(8)
The problem of designing a delay-dependent robust ℋ∞ filter for time delay Takagi–Sugeno fuzzy models is considered. The purpose is to design delay-dependent ℋ∞ filters ensuring a prescribed ℋ∞ performance level for the estimation error, irrespective of the uncertainties and the time delays. Sufficient conditions for the existence of a delay-dependent ℋ∞ filter are given in terms of linear matrix inequalities. Membership functions' (MFs) structural information is incorporated into the delay-dependent filter design to reduce the conservativeness of neglecting this information. It is shown that incorporating MFs' structural information into the filter design does not lead to bilinear matrix inequalities, as in the control design case. Finally, a numerical example is used to illustrate the effectiveness of the proposed design techniques. - Author(s): M.S. Mahmoud
- Source: IET Control Theory & Applications, Volume 1, Issue 1, p. 141 –154
- DOI: 10.1049/iet-cta:20045281
- Type: Article
- + Show details - Hide details
-
p.
141
–154
(14)
The problem of designing a resilient L2–L∞ filter for a class of linear uncertain state delay systems with uncertainties that belong to a convex-bounded polytopic domain is investigated. The objective is to derive tractable synthesis conditions for the resilient design of full-order and reduced-order filters such that a prescribed energy-to-peak disturbance-attenuation level is attained for all admissible uncertainties and gain perturbations. Both additive and multiplicative gain perturbations are considered. It is established that the filter design can be obtained from the solution of the convex optimisation problem over linear matrix inequalities. The design results are developed for both delay-independent and delay-dependent cases. In the latter case, two approaches are used: descriptor and extended Newton–Leibniz. Results on numerical simulations are presented to demonstrate the behaviour of the resilient filters. - Author(s): J.M. Gomes da Silva ; F. Lescher ; D. Eckhard
- Source: IET Control Theory & Applications, Volume 1, Issue 1, p. 155 –162
- DOI: 10.1049/iet-cta:20050415
- Type: Article
- + Show details - Hide details
-
p.
155
–162
(8)
A method for computing time-varying dynamic output feedback controllers for discrete-time linear systems subject to input saturation is proposed. The method is based on a locally valid polytopic representation of the saturation term. From this representation, it is shown that, at each sampling time, the matrices of the stabilising time-varying controller can be computed from the current system output and from constant matrices obtained as a solution of some matrix inequalities. Linear matrix inequality-based optimisation problems are therefore proposed in order to compute the controller aiming at the maximisation of the basin attraction of the closed-loop system, as well as aiming at ensuring a level of ℒ2 disturbance tolerance and rejection. - Author(s): W. Wang ; X.D. Liu ; J.Q. Yi
- Source: IET Control Theory & Applications, Volume 1, Issue 1, p. 163 –172
- DOI: 10.1049/iet-cta:20050435
- Type: Article
- + Show details - Hide details
-
p.
163
–172
(10)
On the basis of sliding-mode control, two sliding-mode controller models based on incremental hierarchical structure and aggregated hierarchical structure for a class of under-actuated systems are presented. The design steps of the two types of sliding-mode controllers and the principle of choosing parameters are given. At the same time, to guarantee the system's stability, two determinant theorems are presented. Then, by theoretical analysis, the two types of sliding-mode controllers are proved to be globally stable in the sense that all signals involved are bounded. The simulation results show the validity of the methods. Therefore an academic foundation for the development of high-dimension under-actuated mechanical systems is provided. - Author(s): M.D. Ortigueira and A.J. Serralheiro
- Source: IET Control Theory & Applications, Volume 1, Issue 1, p. 173 –178
- DOI: 10.1049/iet-cta:20050001
- Type: Article
- + Show details - Hide details
-
p.
173
–178
(6)
The modelling of fractional linear systems through ARMA models is addressed. To perform this study, a new recursive algorithm for impulse response ARMA modelling is presented. This is a general algorithm that allows the recursive construction of ARMA models from the impulse response sequence. This algorithm does not need an exact order specification, as it gives some insights into the correct orders. It is applied to modelling fractional linear systems described by fractional powers of the backward difference and the bilinear transformations. The analysis of the results leads to propose suitable models for those systems. - Author(s): Z.H. Xiong ; J. Zhang ; X. Wang ; Y.M. Xu
- Source: IET Control Theory & Applications, Volume 1, Issue 1, p. 179 –188
- DOI: 10.1049/iet-cta:20050177
- Type: Article
- + Show details - Hide details
-
p.
179
–188
(10)
An integrated batch-to-batch control and within-batch online control strategy for tracking product quality trajectories in batch processes is proposed. On the basis of a batch-wise linear time-varying perturbation model, iterative learning control (ILC) is implemented for batch-to-batch control and the convergence of tracking errors under ILC is guaranteed. Within a batch, a predictive model is constructed by directly partitioning the linear time-varying model according to time, then batch model predictive control with shrinking horizons is applied online to reduce the effects of model-plant mismatch and/or unknown disturbances. By properly combining these two control methods, the integrated control strategy can complement both methods to obtain good performance. The proposed strategy is demonstrated on a simulated batch polymerisation process, and the results show that the performance can be improved quite significantly under the integrated control strategy than only under ILC, especially when disturbances occur. - Author(s): Z. Wang ; P. Goldsmith ; D. Tan
- Source: IET Control Theory & Applications, Volume 1, Issue 1, p. 189 –194
- DOI: 10.1049/iet-cta:20050359
- Type: Article
- + Show details - Hide details
-
p.
189
–194
(6)
The problem of robust control is considered for uncertain systems with time-varying input delays. A new Lyapunov–Krasovskii functional is used together with a neutral transformation to design a robust controller for larger bounds on plant uncertainties than permitted by a recently published method. Numerical examples verify the analysis results. - Author(s): X. Ji ; H. Su ; J. Chu
- Source: IET Control Theory & Applications, Volume 1, Issue 1, p. 195 –200
- DOI: 10.1049/iet-cta:20050482
- Type: Article
- + Show details - Hide details
-
p.
195
–200
(6)
A linear matrix inequality (LMI) approach to the robust state feedback H∞ control for linear discrete singular systems with norm-bounded uncertainty is developed. By taking the relationship between slow and fast subsystems of a discrete singular system, a new bounded real lemma is proposed that proves to be sufficient and necessary. On the basis of this, the result on robust H∞ performance is obtained. An explicit expression for the desired controllers is also given that involves no system decomposition. The obtained results are formulated in terms of strict LMIs. Illustrative examples are provided to demonstrate the effectiveness of the proposed approaches. - Author(s): E.N. Gonçalves ; R.M. Palhares ; R.H.C. Takahashi ; R.C. Mesquita
- Source: IET Control Theory & Applications, Volume 1, Issue 1, p. 201 –209
- DOI: 10.1049/iet-cta:20050334
- Type: Article
- + Show details - Hide details
-
p.
201
–209
(9)
An approach to compute the ℋ2- or ℋ∞-guaranteed costs with any prescribed accuracy is presented. The proposed approach can be applied to uncertain state–space models of linear time-invariant systems, where the system matrices depend on uncertain parameters or vary in a polytopic domain of the space of matrices. The developed approach is based on a new implementation of the branch-and-bound algorithm with the upper-bound functions based on linear matrix inequality (LMI) characterisations. The branch operation is based on a new subdivision technique that can be applied to any kind of polytope shape, not restricted to the hyper-rectangle case. When applied alone, the LMI-based analysis formulations can fail to compute the guaranteed costs, or they can present conservative results. Examples are presented to illustrate that the proposed analysis approach overcomes the problems faced with LMI-based formulations with reasonable computational time. - Author(s): M. De la Sen and S. Alonso-Quesada
- Source: IET Control Theory & Applications, Volume 1, Issue 1, p. 210 –225
- DOI: 10.1049/iet-cta:20050133
- Type: Article
- + Show details - Hide details
-
p.
210
–225
(16)
The model matching problem in discrete systems with free-design zeros of the reference model for any fractional order-hold and a wide set of admissible values of the running sampling period used in the discretisation process of a linear and time-invariant single-input single-output continuous-time plant is investigated. A fast input sampling rate at sufficiently small sampling period is used with an appropriate set of scalar gains to generate the input sequence within the slow-running sampling period. This makes it possible to stabilise the discrete plant zeros that allows their cancellation in the model-matching problem synthesis irrespective of either the absence of continuous-time zeros or the presence of continuous-time critically stable or unstable ones. The design is extended to adaptive control for the case of unknown plants. - Author(s): T.-J. Su and H.-W. Peng
- Source: IET Control Theory & Applications, Volume 1, Issue 1, p. 226 –232
- DOI: 10.1049/iet-cta:20050212
- Type: Article
- + Show details - Hide details
-
p.
226
–232
(7)
An approach is introduced for the design of a finite impulse response equaliser of communication channels with time delays. Initially, the state-space model for the time-delay communication channel is presented and then the error transfer function is obtained. Both H∞ optimisation and linear matrix inequality techniques are employed to solve the optimisation problem for determining the coefficients of the equaliser. A numerical example with simulations is given to demonstrate the effectiveness of the proposed method. - Author(s): J. Cheng ; J. Yi ; D. Zhao
- Source: IET Control Theory & Applications, Volume 1, Issue 1, p. 233 –237
- DOI: 10.1049/iet-cta:20050357
- Type: Article
- + Show details - Hide details
-
p.
233
–237
(5)
Trajectory tracking is an issue of vital practical importance for manoeuvreing of marine vessels. Because of the nonlinearities of kinematics and dynamics of motion, conventional control designs, based on the assumption that the kinematics and dynamics can be linearised, are not competent for tracking application of marine vessels. A multivariable sliding mode control law is proposed for the trajectory tracking problem on the basis of nonlinear horizontal motion dynamics of a class of marine vessels, in which three degrees of freedom are concerned. Ship positions and yaw angle are simultaneously tracked. Lyapunov theory is used to prove the stability of the proposed control law. Simulation results show the validity of this method for ship trajectory tracking problem. - Author(s): P. Herman
- Source: IET Control Theory & Applications, Volume 1, Issue 1, p. 238 –243
- DOI: 10.1049/iet-cta:20050101
- Type: Article
- + Show details - Hide details
-
p.
238
–243
(6)
The problem of velocity control concerning a manipulator arm is considered. It is assumed that the joint friction is described by a model that contains the Dahl effect. A joint velocity controller and a friction observer are expressed in terms of the normalised quasi-velocities (NQV). The controller with the observer is shown to be exponentially convergent. Some properties arising from the use of NQV are presented. The control strategy, including the friction observer, was tested in simulation on a 3 d.o.f. 3D, Direct Drive Arm robot. - Author(s): C.-C. Hsu ; S.-C. Chang ; C.-Y. Yu
- Source: IET Control Theory & Applications, Volume 1, Issue 1, p. 244 –252
- DOI: 10.1049/iet-cta:20050300
- Type: Article
- + Show details - Hide details
-
p.
244
–252
(9)
A multi-objective genetic algorithm approach is proposed to design tolerance controllers for uncertain interval systems. Given a set of specifications in terms of acceptability ranges of gain margin (GM) and phase margin (PM), the design objective is to evolutionarily derive controllers such that closed-loop stability and desired dynamic performance are guaranteed. On the basis of extremal design philosophy, the design problem is first formulated as constrained optimisation problems based on deviation between the desired and extremal GM/PM of the resulting loop-transfer function, and subsequently optimised via the proposed genetic algorithm. To ensure robust stability of the closed-loop system, root locations associated with the generalised Kharitonov segment polynomials will be used to establish a constraints handling mechanism, on the basis of which fitness functions can be constructed for effective evaluation of chromosomes in the current population. Because of the cost functions that adopt the concept of centrality, evolution is directed towards derivation of Pareto-optimal solutions of the tolerance controllers with better centrality and limited spreading along the desired region of acceptability, resulting in more consistent system performances and improved robustness of the closed-loop system. - Author(s): R. Becerril-Arreola and A.G. Aghdam
- Source: IET Control Theory & Applications, Volume 1, Issue 1, p. 253 –262
- DOI: 10.1049/iet-cta:20045192
- Type: Article
- + Show details - Hide details
-
p.
253
–262
(10)
The decentralised (localised) control of the traffic in a highway, which is treated as a series of subsystems with bounded interconnections, is considered. Using variable structures, a new nonlinear controller estimates the instantaneous magnitude of these interconnections and then generates a bounded continuous control law. The new controller offers the following two main advantages over previous solutions: (i) it addresses some phenomena that simpler models do not characterise and (ii) it takes into account the practical restrictions of the problem by, for example, complying with the boundedness constraint on the control effort. - Author(s): D. Garcia ; A. Karimi ; R. Longchamp
- Source: IET Control Theory & Applications, Volume 1, Issue 1, p. 263 –272
- DOI: 10.1049/iet-cta:20050369
- Type: Article
- + Show details - Hide details
-
p.
263
–272
(10)
An overview of the recent works on proportional integral derivative (PID) controller tuning methods based on specifications on the infinity-norm of the sensitivity functions is presented. The presented approach is very flexible relative to the controller structure and the a priori knowledge about the process. It can be applied to plants described by parametric models, frequency domain non-parametric models as well as in a model-free framework. For the latter, procedures for measuring the design parameters values are described. The problem is then solved by minimising iteratively a frequency criterion, defined as the weighted sum of squared errors between the actual values and desired values of the design parameters. If the plant is described by a parametric model, model uncertainty can be handled to guarantee stability and performance robustness of the designed closed-loop system. Simulation examples are provided to compare the results obtained with the proposed approach to those resulting from well-accepted PID controller tuning methods. An application of the proposed method to a double-axis permanent-magnet synchronous motor illustrates the effectiveness of the approach to control of systems with large uncertainties. - Author(s): Z. Doulgeri and Y. Karayiannidis
- Source: IET Control Theory & Applications, Volume 1, Issue 1, p. 273 –280
- DOI: 10.1049/iet-cta:20050526
- Type: Article
- + Show details - Hide details
-
p.
273
–280
(8)
The performance of a modified parallel control scheme is examined under surface kinematic uncertainties using nonlinear stability analysis. The controlled system is a robotic finger with a soft hemispherical fingertip of significant radius in contact with an unknown surface. Analysis of the control system performance shows that force converges to the desired value, whereas position errors stay close to zero and in some cases can even vanish despite uncertainties. Simulation results support the theoretical findings and illustrate the performance of the proposed controller. - Author(s): Y. Guo ; Z. Xi ; D. Cheng
- Source: IET Control Theory & Applications, Volume 1, Issue 1, p. 281 –290
- DOI: 10.1049/iet-cta:20050307
- Type: Article
- + Show details - Hide details
-
p.
281
–290
(10)
Here, the speed regulation of permanent magnet synchronous motors (PMSM) is investigated through feedback dissipative Hamiltonian realisation. Feedback laws for precise and uncertain cases are constructed to transfer the dynamics of PMSM into dissipative Hamiltonian forms. When the load torque is unknown, to realise the speed regulation, an update law is embedded into the dissipative Hamiltonian structure. Simulations show that the controllers designed in this way are efficient. - Author(s): E. Alameda-Hernández ; D. Blanco ; D.P. Ruiz ; M.C. Carrión
- Source: IET Control Theory & Applications, Volume 1, Issue 1, p. 291 –297
- DOI: 10.1049/iet-cta:20060260
- Type: Article
- + Show details - Hide details
-
p.
291
–297
(7)
The stability and the performance of the overdetermined recursive instrumental variable (ORIV) algorithm when tracking non-stationary systems have been studied. In particular, the effect on the system estimation via ORIV of the measurement noise and the non-stationarity of the system has been studied. The optimum value of the forgetting factor, giving the minimum mean square error, is then derived. No independence assumptions are used. Furthermore, a new orthogonality condition is obtained that extracts all the important features of ORIV. Finally, simulations corroborate the analysis. - Author(s): Z. Ding
- Source: IET Control Theory & Applications, Volume 1, Issue 1, p. 298 –303
- DOI: 10.1049/iet-cta:20050458
- Type: Article
- + Show details - Hide details
-
p.
298
–303
(6)
The author deals with asymptotic rejection of unknown sinusoidal disturbances for uncertain nonlinear systems in an extended output feedback form, which allows the vector field coupled with the system input to have different nonlinear functions of the system output as its elements. A new internal model design is proposed to deal with nonlinear functions of the system output that are coupled with the input and the unknown disturbance. Adaptive control techniques are then used to deal with the uncertainty in the system. The proposed adaptive disturbance rejection algorithm with the new internal model design ensures the asymptotic rejection of the unknown sinusoidal disturbance and the boundedness of all the variables. - Author(s): R.K. Das ; S. Sen ; S. Dasgupta
- Source: IET Control Theory & Applications, Volume 1, Issue 1, p. 304 –312
- DOI: 10.1049/iet-cta:20050518
- Type: Article
- + Show details - Hide details
-
p.
304
–312
(9)
The design of a robust and fault-tolerant control system for the attitude control of a satellite launch vehicle is described. The robust controller is designed for the nominal system in order to reduce the effect of disturbances in the system. Finally, a reconfigured controller is designed to stabilise the system by placing the closed-loop poles within a desired region and also to guarantee the disturbance attenuation below a certain level. The linear matrix inequality technique is used to design the controllers. The performance of the nominal and reconfigured controller is presented. - Author(s): Y.-C. Cheng ; C. Hwang ; C.-T. Chen
- Source: IET Control Theory & Applications, Volume 1, Issue 1, p. 313 –319
- DOI: 10.1049/iet-cta:20050326
- Type: Article
- + Show details - Hide details
-
p.
313
–319
(7)
The quadratic cost functional or integral square error (ISE) defined as I=∫0∞ e2(t) dt has been widely used in the analytical design of optimal control systems. In most control literature, the integral I, by virtue of Parseval's theorem, is represented by the complex integral (1/i2π)∫−i∞i∞ E(s)E(−s) ds, i=√−1, and many efficient parametric expressions derived for the evaluation of I are based on a product-to-sum decomposition E(s)E(−s)=Z(s)+Z(−s). The evaluation of ISE for linear feedback control of systems involving a distributed delay exp(−τs/√(s2+b2)) is considered. It is shown that because multivalued square root function (s2+b2)1/2 has a non-removable branch-cut singularity on the imaginary axis, the product-to-sum decomposition approach fails to generate a parametric expression for the evaluation of I. Also shown is that pitfall exists with the use of the Laplace-transform-based representation of Parseval identity when the value of I is computed by a numerical integration of the complex integral in a computer. The findings gained from numerical results indeed clarify the correct use of a useful numerical approach of solving differential equations to compute the quadratic cost functionals. - Author(s): M.-C. Tsai and B.-H. Shen
- Source: IET Control Theory & Applications, Volume 1, Issue 1, p. 320 –327
- DOI: 10.1049/iet-cta:20060038
- Type: Article
- + Show details - Hide details
-
p.
320
–327
(8)
Synchronisation control of multi-axis servosystems has recently attracted the attention of researchers, but the issue of synchronisation for multiple inverted pendulums (IPs) is rarely discussed. With this in mind, the authors present a control design of a parallel dual IP system (PDIPS) in which two IPs driven by a pair of linear servomotors allow for parallel movement. The control problem of coupling IPs involves both balancing and synchronous tracking control. A robust design is investigated to enhance internal dynamic stiffness and achieve balance control of the PDIPS. Furthermore, a synchronisation control scheme with a coordinated compensator is proposed to perform a viably congruent dual-axis motion. Experimental results are given to verify the feasibility of the illustrated method. When compared with the classical master–slave control, the proposed control scheme has the advantage in that it can significantly reduce the synchronisation error in command tracking and can generate coordinated motion on both axes. - Author(s): D. Muñoz de la Peña ; T. Alamo ; D.R. Ramírez ; E.F. Camacho
- Source: IET Control Theory & Applications, Volume 1, Issue 1, p. 328 –333
- DOI: 10.1049/iet-cta:20060016
- Type: Article
- + Show details - Hide details
-
p.
328
–333
(6)
The implementation of min–max model predictive control for constrained linear systems with bounded additive uncertainties and quadratic cost functions is dealt with. This type of controller has been shown to be a continuous piecewise affine function of the state vector by geometrical methods. However, no algorithm for computing the explicit solution has been given. Here, it is shown that the min–max optimisation problem can be expressed as a multi-parametric quadratic program, and so, the explicit form of the controller may be determined by standard multi-parametric techniques. - Author(s): R. Touri and C.N. Hadjicostis
- Source: IET Control Theory & Applications, Volume 1, Issue 1, p. 334 –342
- DOI: 10.1049/iet-cta:20050237
- Type: Article
- + Show details - Hide details
-
p.
334
–342
(9)
The possibility of using networks, such as the Internet, for data transmission between physically distributed sensors and actuators in a system gives rise to several new challenges in control design. An approach is discussed for dealing with missing or delayed information because of packet drops or deteriorating network performance. More specifically, a stochastic set-up is used to find appropriate and optimal conditions for a system to remain stable despite packet drops. Both discrete-time and continuous-time systems are considered. Under reasonable assumptions on the behaviour of the network and the noise model, it is possible to characterise optimal control strategies in terms of the probability of a packet drop, the noise statistics, the instability of the open-loop system and, in the case of continuous-time systems, the sampling frequency. - Author(s): J.-S. Lin and W.-E. Ting
- Source: IET Control Theory & Applications, Volume 1, Issue 1, p. 343 –348
- DOI: 10.1049/iet-cta:20050218
- Type: Article
- + Show details - Hide details
-
p.
343
–348
(6)
With the utilisation of backstepping control design schemes, a nonlinear anti-lock braking system (ABS) is applied to a quarter-car model, assisted by active suspension. An ABS must be able to release the wheel-locking situation while assisting the vehicle to stop in the shortest possible distance. Although the braking distance can be reduced by the control torque from disk/drum brakes, the braking time and distance could be further improved if the normal force generated from active suspension systems is considered simultaneously. As a result, the integration of the ABS and the active suspension system would indeed enable further enhancement of the system performance resulting in a reduction of braking time and stopping distance. Some comparative simulations are given to illustrate the excellent performance of the proposed integrated ABS. - Author(s): Z. Yang ; M. Blanke ; M. Verhaegen
- Source: IET Control Theory & Applications, Volume 1, Issue 1, p. 349 –357
- DOI: 10.1049/iet-cta:20050510
- Type: Article
- + Show details - Hide details
-
p.
349
–357
(9)
A novel control mixer method for reconfigurable control designs is developed. The proposed method extends the matrix-form of the conventional control mixer concept into a linear time invariant dynamic form. The H∞ control technique is employed for dynamic module design after an augmented control system is constructed through a model-matching strategy. The stability, performance and robustness of the reconfigured system is shown to be guaranteed when some conditions are satisfied. A robot system subjected to faults is used to demonstrate the reconfiguration procedure and illustrate the effectiveness of the proposed method. - Author(s): M.M. Lamego
- Source: IET Control Theory & Applications, Volume 1, Issue 1, p. 358 –371
- DOI: 10.1049/iet-cta:20060009
- Type: Article
- + Show details - Hide details
-
p.
358
–371
(14)
A framework is developed for the control design and stability analysis of state-feedback systems made out of automaton–controller pairs, here referred to as automata control systems. A single theorem, based on the Bellman–Ford algorithm, provides the conditions for the design of the controllers that make a given automaton optimal and stable. The automata approximation of continuous state-space models is also developed for the design of state-feedback controllers that can drive continuous plants. The approximation of continuous plants through automata makes the design of state-feedback controllers independent of the state-space description. No distinction is made in the treatment of linear and nonlinear plants. Controller synthesis and specification of the domains of attraction for the resulting plant–controller pair are systematically obtained for continuous time-invariant state-space models. The application of this framework for the stability analysis of the exact model of a digital filter is presented. The automata approximation is applied to design a single controller that stabilises a forced pendulum around two equilibria. The design of switching controllers using automata approximation is also developed and applied to the longitudinal motion control of an aircraft. - Author(s): S. Cong ; L. Hong ; J.R. Layne
- Source: IET Control Theory & Applications, Volume 1, Issue 1, p. 372 –380
- DOI: 10.1049/iet-cta:20050378
- Type: Article
- + Show details - Hide details
-
p.
372
–380
(9)
Robust filtering for state-space estimation has been studied. The application domain emphasises air-to-ground target tracking with remote sensing devices such as radar. An analysis indicates that in this application, target model uncertainties predominantly exist in the observation model and target input process noise model. For this reason, the development of a filter with robustness towards these two types of uncertainties has been the focus of the authors. A challenge to the design is that the uncertainties are highly non-stationary with the result that predefined bounds on uncertainties generally cannot provide the required filtering accuracy. Therefore, a successful robust filter for such applications must include a mechanism to predict instant bounds on certainties and, to this end, an iterative robust filter is developed on the basis of least squares optimisation criteria. Compared with existing robust filters, the novelty of this new filtering is to predict the worst-case uncertainty so that tight bounds on the involved uncertainties can be applied and the state estimates can be obtained more accurately. - Author(s): Y. He ; G.P. Liu ; D. Rees
- Source: IET Control Theory & Applications, Volume 1, Issue 1, p. 381 –386
- DOI: 10.1049/iet-cta:20060216
- Type: Article
- + Show details - Hide details
-
p.
381
–386
(6)
The stability problem of systems with a time-varying interval delay is investigated. An augmented Lyapunov functional is introduced to establish some improved delay-dependent stability criteria using a simple and alternative proving method. It is shown that some recently published results are the special cases considered here. The resulting criteria are extended to the stability analysis of systems with time-varying structured uncertainties. A numerical example is given to demonstrate the benefits and effectiveness of the proposed method. - Author(s): Z. Zuo and Y. Wang
- Source: IET Control Theory & Applications, Volume 1, Issue 1, p. 387 –392
- DOI: 10.1049/iet-cta:20060056
- Type: Article
- + Show details - Hide details
-
p.
387
–392
(6)
The problem of global stability for a class of uncertain cellular neural networks with time delays has been discussed. The uncertainty is assumed to be of norm-bounded form. A less conservative robust stability condition is derived on the basis of a new Lyapunov–Krasovskii functional in terms of linear matrix inequalities. Two numerical examples are given to illustrate the effectiveness of the proposed method. - Author(s): H.K. Lam and L.D. Seneviratne
- Source: IET Control Theory & Applications, Volume 1, Issue 1, p. 393 –401
- DOI: 10.1049/iet-cta:20060105
- Type: Article
- + Show details - Hide details
-
p.
393
–401
(9)
The tracking control of nonlinear systems based on the fuzzy-model-based approach has been presented. A fuzzy controller was designed to drive the system states of the nonlinear system to follow those of a reference model. Stability conditions were derived to guarantee the system stability. The finding of the parameters of fuzzy controller was formulated as a generalised eigenvalue problem. An application example on applying the proposed approach to a two-link robot arm was given. - Author(s): A.-G. Wu and G.-R. Duan
- Source: IET Control Theory & Applications, Volume 1, Issue 1, p. 402 –408
- DOI: 10.1049/iet-cta:20050390
- Type: Article
- + Show details - Hide details
-
p.
402
–408
(7)
An explicit solution to the generalised Sylvester matrix equation AV+BW=EVF, with the matrix F being in an arbitrary form, is proposed. The solution is in a neat form represented by a generalised symmetric operator matrix, the index-t R-controllability matrix associated with the matrix triple (E, A, B) and an index-t observability matrix. The presented approach allows the matrix F to be set undetermined. This solution can offer all the degrees of freedom. The result may give convenience and advantages to the computation and analysis of the solution to this type of matrix equations. A numerical example is given to illustrate the effect of the proposed approach. - Author(s): Y.Y. Liu ; W.D. Zhang ; L.L. Ou
- Source: IET Control Theory & Applications, Volume 1, Issue 1, p. 409 –416
- DOI: 10.1049/iet-cta:20060149
- Type: Article
- + Show details - Hide details
-
p.
409
–416
(8)
An analytical non-diagonal PI/PID controller design method is proposed for two-by-two (TITO) processes with time delays. By extending the concept of coupling matrix for uncertain multivariable delay-free processes to TITO processes with time delays, the relation between the non-diagonal and the diagonal elements of decoupling controller is determined, and thus, the realisable optimal closed-loop transfer function can be intuitively identified. The decoupling controller is derived inversely from the proposed closed-loop transfer function. Pade approximation is then utilised to reproduce the decoupling controller in the form of a non-diagonal PI/PID controller for implementation. Tuning rules for the proposed controller are developed based on system robust stability analysis. Simulation examples are included to show the superiority of the proposed method. - Author(s): Y. Chang and C.-C. Cheng
- Source: IET Control Theory & Applications, Volume 1, Issue 1, p. 417 –421
- DOI: 10.1049/iet-cta:20050383
- Type: Article
- + Show details - Hide details
-
p.
417
–421
(5)
On the basis of the Lyapunov stability theorem, a design of adaptive sliding surfaces for a class of MIMO systems with matched and mismatched perturbations is proposed to solve regulation problems. By utilising some adaptive gains designed both in the sliding surface function and in the controllers, not only are the mismatched perturbations automatically overcome during the sliding mode, but the property of asymptotical stability of controlled systems is also achieved at the same time. Furthermore, the knowledge of the upperbound of partial perturbations is not required. A numerical example is given to demonstrate the feasibility of the proposed control scheme. - Author(s): Z. Zuo and Y. Wang
- Source: IET Control Theory & Applications, Volume 1, Issue 1, p. 422 –429
- DOI: 10.1049/iet-cta:20050366
- Type: Article
- + Show details - Hide details
-
p.
422
–429
(8)
The problems of robust stability analysis and synthesis of uncertain nonlinear systems with time-varying delays and norm-bounded uncertainties via linear Takagi–Sugeno fuzzy model approach are discussed. First, a delay-dependent robust stability criterion is derived within the framework of linear matrix inequalities. The relationships between the terms in the Leibniz–Newton formula and the system matrices are taken into account. Then the stabilisation approach for nonlinear delayed systems through fuzzy state feedback is presented. Several examples show the proposed method to be a significant improvement over the existing ones. - Author(s): J. Colandairaj ; G.W. Irwin ; W.G. Scanlon
- Source: IET Control Theory & Applications, Volume 1, Issue 1, p. 430 –438
- DOI: 10.1049/iet-cta:20050519
- Type: Article
- + Show details - Hide details
-
p.
430
–438
(9)
Closing feedback loops using an IEEE 802.11b ad hoc wireless communication network incurs many challenges – sensitivity to varying channel conditions and lower physical transmission rates tend to limit the bandwidth of the communication channel. Given that the bandwidth usage and control performance are linked, a method of adapting the sampling interval based on an ‘a priori’, static sampling policy has been proposed and, more significantly, assuring stability in the mean square sense using discrete-time Markov jump linear system theory. Practical issues including current limitations of the 802.11 b protocol, the sampling policy and stability are highlighted. Simulation results on a cart-mounted inverted pendulum show that closed-loop stability can be improved using sample rate adaptation and that the control design criteria can be met in the presence of channel errors and severe channel contention. - Author(s): J. Zhou and L. Wang
- Source: IET Control Theory & Applications, Volume 1, Issue 1, page: 439 –439
- DOI: 10.1049/iet-cta:20050499
- Type: Article
- + Show details - Hide details
-
p.
439
(1)
- Author(s): V. Singh
- Source: IET Control Theory & Applications, Volume 1, Issue 1, page: 440 –440
- DOI: 10.1049/iet-cta:20060126
- Type: Article
- + Show details - Hide details
-
p.
440
(1)
- Author(s): B. Ninness
- Source: IET Control Theory & Applications, Volume 1, Issue 1, page: 441 –441
- DOI: 10.1049/iet-cta:20079030
- Type: Article
- + Show details - Hide details
-
p.
441
(1)
Modified radial basis function neural network using output transformation
Intelligent motion control of linear ultrasonic motor with H∞ tracking performance
Hierarchical approach for ℋ∞ robust control design: S/KS mixed sensitivity with genetic algorithm
Robust adaptive control of nonlinear uncertain plants with unknown dead-zone
Fuzzy side force control for missile against hypersonic target
Online neural identification of multi-input multi-output systems
Adaptive critic anti-slip control of wheeled autonomous robot
Fuzzy modelling using Kalman filter
Improvement of transient performance in tracking control for discrete-time systems with input saturation and disturbances
Active disturbance rejection control for uncertain multivariable systems with time-delay
H∞ tracking-based adaptive fuzzy sliding mode controller design for nonlinear systems
Online automatic tuning of a proportional integral derivative controller based on an iterative learning control approach
Delay-dependent output feedback guaranteed cost control for uncertain discrete-time systems with multiple time-varying delays
Recursive robust least squares estimator for time-varying linear systems with a noise corrupted measurement matrix
Class of rational function matrices that satisfy two properties of linear systems and structural controllability
H∞ optimal singular and normal filter design for uncertain singular systems
Stability conditions for time-delay fuzzy systems using fuzzy weighting-dependent approach
Delay-dependent ℋ∞ filtering for uncertain time delay nonlinear systems: an LMI approach
Resilient L2–L∞ filtering of polytopic systems with state delays
Design of time-varying controllers for discrete-time linear systems with input saturation
Structure design of two types of sliding-mode controllers for a class of under-actuated mechanical systems
Pseudo-fractional ARMA modelling using a double Levinson recursion
Integrated tracking control strategy for batch processes using a batch-wise linear time-varying perturbation model
Improvement on robust control of uncertain systems with time-varying input delays
Robust state feedback H∞ control for uncertain linear discrete singular systems
ℋ2 and ℋ∞ε-guaranteed cost computation of uncertain linear systems
Model matching via multirate sampling with fast sampled input guaranteeing the stability of the plant zeros: extensions to adaptive control
Robust finite impulse response equalisation for time-delay communication channels: linear matrix inequality approach
Design of a sliding mode controller for trajectory tracking problem of marine vessels
Velocity controller with friction compensation
Tolerance design of robust controllers for uncertain interval systems based on evolutionary algorithms
Decentralised nonlinear control with disturbance rejection for on-ramp metering in highways
Robust proportional integral derivative controller tuning with specifications on the infinity-norm of sensitivity functions
Performance analysis of a soft tip robotic finger controlled by a parallel force/position regulator under kinematic uncertainties
Speed regulation of permanent magnet synchronous motor via feedback dissipative Hamiltonian realisation
Optimal tracking of time-varying systems with the overdetermined recursive instrumental variable algorithm
Adaptive disturbance rejection of nonlinear systems in an extended output feedback form
Robust and fault tolerant controller for attitude control of a satellite launch vehicle
Evaluation of quadratic cost functionals for a class of distributed-delay systems
Synchronisation control of parallel dual inverted pendulums driven by linear servomotors
Min–max model predictive control as a quadratic program
Stabilisation with feedback control utilising packet-dropping network links
Nonlinear control design of anti-lock braking systems with assistance of active suspension
Robust control mixer method for reconfigurable control design using model matching
Automata control systems
Iterative robust filtering for ground target tracking
Augmented Lyapunov functional for the calculation of stability interval for time-varying delay
Robust stability criterion for delayed cellular neural networks with norm-bounded uncertainties
LMI-based stability design of fuzzy controller for nonlinear systems
Solution to the generalised Sylvester matrix equation AV+BW=EVF
Analytical decoupling PI/PID controller design for two-by-two processes with time delays
Design of adaptive sliding surfaces for systems with mismatched perturbations to achieve asymptotical stability
Robust stability and stabilisation for nonlinear uncertain time-delay systems via fuzzy control approach
Wireless networked control systems with QoS-based sampling
Comment: Robust stability of cellular neural networks with delay: linear matrix inequality approach
Reply: Robust stability of cellular neural networks with delay: linear matrix inequality approach
Editorial: Introduction from the new Editor-in-Chief: Brett Ninness
Most viewed content for this Journal
Article
content/journals/iet-cta
Journal
5
Most cited content for this Journal
-
Finite-time stability of interconnected impulsive switched systems
- Author(s): Guangdeng Zong ; Hangli Ren ; Linlin Hou
- Type: Article
-
Event-based security control for discrete-time stochastic systems
- Author(s): Derui Ding ; Zidong Wang ; Guoliang Wei ; Fuad E. Alsaadi
- Type: Article
-
Survey on semi-tensor product method with its applications in logical networks and other finite-valued systems
- Author(s): Jianquan Lu ; Haitao Li ; Yang Liu ; Fangfei Li
- Type: Article
-
Optimal control for networked control systems with disturbances: a delta operator approach
- Author(s): Yuan Yuan ; Huanhuan Yuan ; Zidong Wang ; Lei Guo ; Hongjiu Yang
- Type: Article
-
Filtering-based iterative identification for multivariable systems
- Author(s): Yanjiao Wang and Feng Ding
- Type: Article