# IEE Proceedings - Control Theory and Applications

## Filter Results

Displaying Results 1 - 15 of 15
• ### Nonlinear PID predictive controller

Publication Year: 1999, Page(s):603 - 611
Cited by:  Papers (58)
| | PDF (736 KB)

A class of nonlinear PID controllers is derived for nonlinear systems using a nonlinear generalised predictive control (NGPC) approach. First, the disturbance decoupling ability of the NGPC is discussed. For a nonlinear system where the disturbance cannot be decoupled, a nonlinear observer is designed to estimate the offset. By selecting the nonlinear gain function in the observer, it is shown tha... View full abstract»

• ### Discrete-time H∞ control of a triple inverted pendulum with single control input

Publication Year: 1999, Page(s):567 - 577
Cited by:  Papers (8)
| | PDF (796 KB)

A design of a robust computer control system for balancing and improving the steady-state performance of a triple inverted pendulum-cart system is considered. The controller is based on discrete-time H∞ theory and is implemented via a robust reduced order dynamic observer. An integrator is used to eliminate the effects of small constant sensor offsets and rail inclinations. Distur... View full abstract»

• ### Robust guaranteed cost control for discrete-time uncertain systems with delay

Publication Year: 1999, Page(s):598 - 602
Cited by:  Papers (19)
| | PDF (288 KB)

The uncertain systems under consideration depend on norm-bounded time-varying matrices of uncertain parameters. The authors develop a quadratic guaranteed cost control method for robust stabilisation via linear memoryless state feedback and static output feedback. Also presented is a robust state feedback controller and static output feedback controller. It is shown that the state feedback control... View full abstract»

• ### Optimisation approach to robust eigenstructure assignment

Publication Year: 1999, Page(s):561 - 565
Cited by:  Papers (3)
| | PDF (480 KB)

A systematic optimisation approach to robust eigenstructure assignment for control systems with output feedback is presented. The proposed scheme assigns the maximum allowable number of closed-loop eigenvalues to desired locations, and determines the corresponding closed-loop eigenvectors as close to desired ones as possible. Additionally, the stability of the remaining closed-loop eigenvalues is ... View full abstract»

• ### Fuzzy control of nonlinear systems using rule adjustment

Publication Year: 1999, Page(s):578 - 584
Cited by:  Papers (6)
| | PDF (492 KB)

A fuzzy controller design using linguistic control rule adjustment is proposed. The proposed adaptive law which results from the direct adaptive approach, is used to indirectly regulate the output fuzzy variables in the fuzzy controller according to the prelabelled rules. The main advantage of the proposed method is that the determination of rule selection is formed by an analytical parameter equa... View full abstract»

• ### Optimal design of PID controllers using the QFT method

Publication Year: 1999, Page(s):585 - 589
Cited by:  Papers (18)
| | PDF (652 KB)

An optimisation algorithm is proposed for designing PID controllers, which minimises the asymptotic open-loop gain of a system, subject to appropriate robust stability and performance QFT constraints. The algorithm is simple and can be used to automate the loop-shaping step of the QFT design procedure. The effectiveness of the method is illustrated with an example View full abstract»

• ### Stability for single and large-scale uncertain systems with time-varying delays

Publication Year: 1999, Page(s):591 - 597
Cited by:  Papers (5)
| | PDF (452 KB)

The problems of stability for single and large-scale uncertain systems including time-varying delays are considered. By applying the comparison theorem and some analytical methods, new delay-dependent sufficient conditions with linear state feedback controllers are derived. The stability criteria are delay-dependent and less conservative than delay-independent stability criteria and delay-dependen... View full abstract»

• ### Sliding regime of a nonlinear robust controller for robot manipulators

Publication Year: 1999, Page(s):493 - 498
Cited by:  Papers (4)
| | PDF (440 KB)

The paper examines the relationship of an outer-loop robust control approach for robot manipulators with sliding-mode control. The approach is based on the general problem of stabilising a linear system with bounded uncertainties; it involves controls across switching surfaces which, for the case of robots, are proved to be decoupled and global asymptotically attractive. The design methodology hig... View full abstract»

• ### Identification of Hammerstein models using genetic algorithms

Publication Year: 1999, Page(s):499 - 504
Cited by:  Papers (9)
| | PDF (488 KB)

The application of genetic algorithms to the identification of the Hammerstein model is studied. The method uses piecewise linear, and not a polynomial, to approximate the memoryless nonlinear characterisation. Numerical simulation results provided show the efficiency of the method View full abstract»

• ### Fuzzy control strategy for Acrobots combining model-free and model-based control

Publication Year: 1999, Page(s):505 - 510
Cited by:  Papers (6)
| | PDF (452 KB)

A fuzzy control strategy for the control of an Acrobot is described. The strategy combines model-free and model-based fuzzy control. The model-free fuzzy controller designed for the up-swing ensures that the energy of the Acrobot increases with each swing. The control law for the torque is derived directly from the energy of the Acrobot. The model-based fuzzy controller, which is based on a Takagi... View full abstract»

• ### Variable structure controller design with H∞ norm and variance constraints for stochastic model reference systems

Publication Year: 1999, Page(s):511 - 516
Cited by:  Papers (2)
| | PDF (460 KB)

Based on the concept of variable structure control, this paper investigates the design of the controller u(t) to achieve the error state upper bound covariance control with H∞ norm and variance constraints for a stochastic model reference system. By using the invariance property of variable structure control, the matched reference model input and the plant error term disappear on ... View full abstract»

• ### Optimising stability bounds of finite-precision controller structures for sampled-data systems in the δ-operator domain

Publication Year: 1999, Page(s):517 - 526
Cited by:  Papers (4)
| | PDF (708 KB)

A tractable closed-loop stability-related measure for controller structures, realised using the δ operator and digitally implemented with finite word length' (FWL), is derived. The optimal realisations of the general finite-precision controller are defined as those that maximise this measure and are shown to be the solutions of a constrained nonlinear optimisation problem. For the special c... View full abstract»

• ### Incremental polynomial model-controller network: a self-organising nonlinear controller

Publication Year: 1999, Page(s):527 - 534
| | PDF (616 KB)

An incremental polynomial model-controller network' is introduced. Smooth control switching is obtained from the use of odd polynomial controllers. The decomposition of the operating space, together with the construction of the network, is achieved online while controlling the system. The performance and robustness of this scheme are illustrated through various simulations View full abstract»

• ### Comparison of perturbation signals for linear system identification in the frequency domain

Publication Year: 1999, Page(s):535 - 548
Cited by:  Papers (20)
| | PDF (1192 KB)

For the purposes of comparison, two new measures of signal quality are developed. The first relates the power contained in the specified harmonics to the amplitude of the signal. The second relates the least power of any specified harmonic to the average power of the specified harmonics. It is seen that perturbation signal design is a compromise between these two measures. Two classes of signal ar... View full abstract»

• ### Polynomial solution of the 31/2-DOF H2/H∞ feedforward control problem

Publication Year: 1999, Page(s):549 - 560
Cited by:  Papers (1)
| | PDF (884 KB)

The use of separate cost terms that enable the amount of feedforward control, relative to feedback action, to be tuned is essential in some applications. The solution of a new 31/2-degree-of-freedom H∞/H2 stochastic optimal control problem is discussed which may be either H2 or H∞ optimal. The system includes a 21/2-degree-of-freedom tracking... View full abstract»

## Aims & Scope

Published from 1994-2006, IEE Proceedings - Control Theory and Applications contained significant and original contributions on control theory and its applications. It was devoted to control systems in the broadest sense, covering new theoretical results and the applications of new and established control methods.

Full Aims & Scope