# IET Control Theory & Applications

## Filter Results

Displaying Results 1 - 25 of 36
• ### Stabilisation and performance synthesis for switched stochastic systems

Publication Year: 2010, Page(s):1877 - 1888
Cited by:  Papers (9)
| |PDF (382 KB)

This study is concerned with the stability and performance analysis, stabilisation and H∞ control problems for continuous-time switched stochastic systems. By applying the average dwell time method and the piecewise Lyapunov function technique, a sufficient condition is first proposed to guarantee the mean-square exponential stability for the unforced switched stochastic system. ... View full abstract»

• ### New controller design method for continuous-time systems with state saturation

Publication Year: 2010, Page(s):1889 - 1897
Cited by:  Papers (3)
| |PDF (241 KB)

This article studies the problems of stability analysis and controllers design for continuous-time linear systems with the consideration of full state saturation as well as partial state saturation. Owing to the difficulty and complexity in the controller design under state saturation, a new and tractable system is constructed, and it is shown that the constructed system is with the same domain of... View full abstract»

• ### Path following of a class of non-holonomic mobile robot with underactuated vehicle body

Publication Year: 2010, Page(s):1898 - 1904
Cited by:  Papers (5)
| |PDF (411 KB)

A new dynamic model for a class of two-wheeled mobile robot (2WMR), whose mass centre locates below its wheel axis, is presented. The dynamic model considered as the motion of an underactuated vehicle body can represent the time-varying horizontal distance of the mass centre with respect to the configuration centre. This model can describe the dynamic behaviours of the robot more accurately. By th... View full abstract»

• ### Adaptive stabilisation for a class of non-linear state time-varying delay systems with unknown time-delay bound

Publication Year: 2010, Page(s):1905 - 1913
Cited by:  Papers (8)
| |PDF (230 KB)

In this study, the authors address the problem of adaptive backstepping control for a class of single-input and single-output (SISO) non-linear time-delay systems in triangular structure. Both the parameters of the system to be controlled and the upper bounds of the time delays and their derivatives are assumed to be unknown. A direct adaptive controller for this class of uncertain non-linear syst... View full abstract»

• ### Closed-form solution to the non-homogeneous generalised sylvester matrix equation

Publication Year: 2010, Page(s):1914 - 1921
Cited by:  Papers (2)
| |PDF (163 KB)

A closed-form solution to the non-homogeneous generalised Sylvester matrix equation AV + BW = EVF + R, with the matrix F being in an arbitrary form, is proposed. The solution is expressed in terms of R-controllability matrices and observability matrices, and can provide all the degrees of freedom represented by a free parameter matrix. The proposed approac... View full abstract»

• ### Model predictive control of non-linear discrete time systems: a linear matrix inequality approach

Publication Year: 2010, Page(s):1922 - 1932
Cited by:  Papers (14)
| |PDF (448 KB)

Using a non-linear model in model predictive control (MPC) changes the control problem from a convex quadratic programme to a non-convex non-linear problem, which is much more challenging to solve. In this study, we introduce an MPC algorithm for non-linear discrete-time systems. The systems are composed of a linear constant part perturbed by an additive state-dependent non-linear term. The contro... View full abstract»

• ### Robustness in fractional proportionalߝintegralߝderivative-based closed-loop systems

Publication Year: 2010, Page(s):1933 - 1944
Cited by:  Papers (1)
| |PDF (344 KB)

Robustness of a fractional proportional-integral-derivative (PID)-based control system is investigated. At first the largest pathwise connected region subset of a box in three-dimensional space of the parameters of the model is determined such that the closed-loop system is bounded-input bounded-output stable for any point inside it. Then a value that represents the size (in a specified sense) of ... View full abstract»

• ### Adaptive optimisation of timeout policy for dynamic power management based on semi-Markov control processes

Publication Year: 2010, Page(s):1945 - 1958
Cited by:  Papers (2)
| |PDF (590 KB)

Timeout policy is an industry standard for dynamic power management (DPM), and thus is easy and safe to implement in many power-managed systems. The optimisation of timeout policy suffered from the lack of effective analytical model and fell in heuristic previously. This study presents an adaptive optimisation method for timeout DPM policy. First, a semi-Markov control processes model is introduce... View full abstract»

• ### Delay-dependent robust stability and stabilisation of uncertain two-dimensional discrete systems with time-varying delays

Publication Year: 2010, Page(s):1959 - 1971
Cited by:  Papers (11)
| |PDF (608 KB)

The problems of delay-dependent robust stability and stabilisation for a class of uncertain two-dimensional (2-D) discrete systems with time-varying delays described by the second Fornasini-Marchesini local state space (FM LSS) model are investigated in this study. By employing improved free-weighting matrix approach, delay-dependent stability criterion for the nominal 2-D state-delayed system is ... View full abstract»

• ### Decentralised L1 adaptive control for large-scale non-linear systems with interconnected unmodelled dynamics

Publication Year: 2010, Page(s):1972 - 1988
Cited by:  Papers (3)
| |PDF (643 KB)

In this study, the authors investigate a decentralised ℒ1 adaptive controller design for a class of large-scale non-linear systems, with stable linear part and with interconnected non-linearities and unmodelled dynamics. The decentralised adaptive identifiers are presented to design the decentralised ℒ1 adaptive control scheme. The local ℒ1 ada... View full abstract»

• ### Sensorless induction motor adaptive observer-backstepping controller: experimental robustness tests on low frequencies benchmark

Publication Year: 2010, Page(s):1989?? - 2002
Cited by:  Papers (7)
| |PDF (929 KB)

In this study, experimental tests for an observer-based controller scheme are given to drive a sensorless Induction Motor (IM) even for the low frequencies case. Combining the advantages of a field oriented controller with the backstepping control method, a new robust controller is designed to track low frequencies trajectories. The static errors are eliminated using an integral backstepping techn... View full abstract»

• ### H∞ stabilisation of non-linear stochastic active fault-tolerant control systems: fuzzy-interpolation approach

Publication Year: 2010, Page(s):2003 - 2017
Cited by:  Papers (4)
| |PDF (408 KB)

This study addresses the H∞ control design problem systematically for a class of non-linear stochastic active fault-tolerant control systems with Markovian parameters. A sufficient condition for the non-linear stochastic fault-tolerant H∞ control u1(x(t), ηt) is given in terms of a set of coupled Hamilton-Jacobi ... View full abstract»

• ### Stability analysis of genetic regulatory network with time delays and parameter uncertainties

Publication Year: 2010, Page(s):2018 - 2028
Cited by:  Papers (4)
| |PDF (338 KB)

The effect of parameter uncertainties on stability of delayed genetic regulatory networks is investigated. With the presence of parameter uncertainties, the delayed coupled genetic regulatory network is a parameter-dependent non-linear system, in which not only the dynamics are indefinite but also its equilibrium point is unknown. The authors first derive a sufficient condition to guarantee robust... View full abstract»

• ### Optimal design and testing of a digital dual-stage actuator servo system

Publication Year: 2010, Page(s):2029 - 2040
Cited by:  Papers (2)
| |PDF (1253 KB)

This study addresses an optimal dual-stage actuator (DSA) servo design in a discrete-time domain. Maximising the cooperation of a voice coil motor and a microactuator (MA), the authors design a discrete-time fixed-order DSA control system. The controller is applied to a disk drive with DSAs, and experimental results demonstrate remarkable improvements in track seek in the MA range as well as in tr... View full abstract»

• ### State-feedback with memory for controlled positivity with application to congestion control

Publication Year: 2010, Page(s):2041 - 2048
Cited by:  Papers (2)
| |PDF (230 KB)

The problem of designing controllers for systems with delays, such that the closed-loop system is positive, stable and fulfils bounds on the system variables, is studied. In order to design this type of controller, a technique is provided, which is based on solving linear programming problems, as this allows the controllers that fulfil these properties to be easily characterised even in the presen... View full abstract»

• ### Passivity-based control of a wound-rotor synchronous motor

Publication Year: 2010, Page(s):2049 - 2057
Cited by:  Papers (9)
| |PDF (361 KB)

This study presents a new non-linear passivity-based controller for a wound-rotor synchronous machine, acting as a motor drive. The control objectives are stated in the dq-frame, and the port-controlled Hamiltonian model is also obtained. A power flow analysis allows to state the control goals in terms of ohmic losses reduction, and motivates the use of the field current for the reactive po... View full abstract»

• ### Tracking control of pneumatic artificial muscle actuators based on sliding mode and non-linear disturbance observer

Publication Year: 2010, Page(s):2058 - 2070
Cited by:  Papers (15)
| |PDF (978 KB)

The dynamic properties and non-linear control of the pneumatic muscle actuator (PMA) were investigated in this study for use in a specially designed hand rehabilitation device. The phenomenological model of PMA was established in the lower pressure range applicable for hand rehabilitation. The experimental results show that PMA's characteristics can be approximated by piecewise functions. In order... View full abstract»

• ### Discrete time integral sliding mode control for overhead crane with uncertainties

Publication Year: 2010, Page(s):2071 - 2081
Cited by:  Papers (15)
| |PDF (693 KB)

This study firstly addresses an integral sliding mode control method for discrete time systems. The underlying continuous system is affected by both matched and unmatched uncertainties. The past value of the disturbance signal is taken as the estimate of its present value. The sliding mode controller is designed to ensure the existence of sliding mode in the presence of uncertainties. The proporti... View full abstract»

• ### Discretisation of linear parameter-varying state-space representations

Publication Year: 2010, Page(s):2082 - 2096
Cited by:  Papers (9)
| |PDF (416 KB)

Discretisation of linear parameter-varying (LPV) systems is a relevant, but insufficiently investigated problem of both LPV control design and system identification. In this contribution, existing results on the discretisation of LPV state-space models with static dependence (without memory) on the scheduling signal are surveyed and new methods are introduced. These approaches are analysed in term... View full abstract»

• ### Robust stability testing function and kharitonov-like theorem for fractional order interval systems

Publication Year: 2010, Page(s):2097 - 2108
Cited by:  Papers (6)
| |PDF (381 KB)

This study deals with the subject of robust bounded-input bounded-output (BIBO)-stability of a family of fractional order interval systems. Employing the idea of robust stability testing function and extending it to the case of intended systems, a simple graphical procedure for checking the robust BIBO-stability applicable to both commensurate and incommensurate orders is developed. Moreover, a ... View full abstract»

• ### Adaptive tracking control for a class of wheeled mobile robots with unknown skidding and slipping

Publication Year: 2010, Page(s):2109 - 2119
Cited by:  Papers (12)
| |PDF (612 KB)

This study presents an adaptive tracking control approach for trajectory tracking of wheeled mobile robots with torque saturation in the presence of unknown skidding and slipping. The robot kinematics and dynamics are induced from the perturbed non-holonomic constraints. The adaptive control system using the kinematics transformed in polar coordinates is developed to compensate unknown skidding an... View full abstract»

• ### Stabilisation of time-delay switched systems with constrained switching signals and its applications in networked control systems

Publication Year: 2010, Page(s):2120 - 2128
Cited by:  Papers (6)
| |PDF (250 KB)

This study focuses on investigating the asymptotical stabilisability of time-delay switched systems with constrained switching signals and its applications in networked control systems (NCSs). First, based on an important lemma, asymptotical stabilisability criteria are established and stabilising switched output feedback controllers can be designed. Then, for NCSs with dropouts, the dropouts are ... View full abstract»

• ### Motion synchronisation of bilateral teleoperation systems with mode-dependent time-varying communication delays

Publication Year: 2010, Page(s):2129 - 2140
Cited by:  Papers (14)
| |PDF (457 KB)

In this study, motion synchronisation control of bilateral teleoperation system is investigated. Compared with previous passivity framework, the communication delays are assumed to be stochastically time varying. By feedback linearisation, the non-linear dynamics of the teleoperation system is transformed into two linear subsystems: local master-slave position control and delayed motion synchronis... View full abstract»

• ### Effect of the order of parameterisation in gradient learning for kernel methods

Publication Year: 2010, Page(s):2141 - 2151
| |PDF (579 KB)

Reproducing kernel Hilbert spaces (RKHSs) provide a natural framework for data modelling and have been applied to signal processing, control, machine learning and function approximation. A significant problem with models derived from RKHS is that the estimation scales poorly with the number of data. This is due to the need to invert a matrix of size equal to the number of data. Among the methods p... View full abstract»

• ### Improved approach to delay-dependent stability analysis of discrete-time systems with time-varying delay [Brief Paper]

Publication Year: 2010, Page(s):2152 - 2159
Cited by:  Papers (18)
| |PDF (173 KB)

This study focuses on studying the asymptotical stability analysis problem for discrete-time systems with time-varying delay. By utilising the S-procedure and an inequality technique, a novel delay-dependent stability criterion is derived in terms of two linear matrix inequalities. Since no slack variable is introduced, less decision variables are involved in the stability condition and the... View full abstract»

## Aims & Scope

IET Control Theory & Applications is devoted to control systems in the broadest sense, covering new theoretical results and the applications of new and established control methods.

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