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By optimizing the predicted performance over a receding horizon, model predictive control (MPC) provides the ability to enforce state and control constraints. The present paper considers an extension of MPC for nonlinear systems that can be…
In this article, we focus on the global stabilizability problem for a class of second order uncertain stochastic control systems, where both the drift term and the diffusion term are nonlinear functions of the state variables and the…
Optimal nonlinear damping control was recently introduced for the second-order SISO systems, showing some advantages over a classical PD feedback controller. This paper summarizes the main theoretical developments and properties of the…
The precise motion control of a multi-degree of freedom~(DOF) robot manipulator is always challenging due to its nonlinear dynamics, disturbances, and uncertainties. Because most manipulators are controlled by digital signals, a novel…
This paper discusses nonlinear proportional-integral (PI) current control with anti-windup of reluctance synchronous machines (RSMs) for which the flux linkage maps are known. The nonlinear controller design is based on the tuning rule…
The quadrotor is a $6$ degrees-of-freedom (DoF) system with underactuation. Adding a spherical pendulum on top of a quadrotor further complicates the task of achieving any output tracking while stabilizing the rest. In this report, we…
Since the classical proportional-integral-derivative (PID) controller has continued to be the most widely used feedback methods in engineering systems by far, it is crucial to investigate the working mechanism of PID in dealing with…
Power systems are usually large non-linear systems, which are often subjected to low frequency electromechanical oscillations. Power System Stabilizers are often used as effective and economic means for damping the generator's…
The purpose of this paper is to illustrate, in an experimental facility consisting of a simple pendular device, the performance of a sliding mode adaptive position-feedback tracking controller of mechanical systems with friction reported in…
This paper proposes a sliding mode controller with smooth control effort for a class of nonlinear plants. The proposed controller is created by allowing some constant parameters of the earlier smooth sliding control (SSC) to vary as a…
This paper investigates the potential for stabilizing an inverted pendulum without electric devices, using gravitational potential energy. We propose a wheeled mechanism on a slope, specifically, a wheeled double pendulum, whose second…
This paper introduces a novel stabilization control strategy for linear time-invariant systems affected by known time-varying measurement delays and matched unknown nonlinear disturbances, which may encompass actuator faults. It is…
In this paper, a nonlinear rotational inverted pendulum with time-varying parameters is controlled using the indirect adaptive fuzzy controller design. This type of controller is chosen because this particular system performance is highly…
This paper deals with sliding mode control for multivariable polytopic uncertain systems. We provide systematic procedures to design variable structure controllers (VSCs) and unit-vector controllers (UVCs). Based on suitable representations…
The inverted pendulum is a non-linear unbalanced system that needs to be controlled using motors to achieve stability and equilibrium. The inverted pendulum is constructed with Lego and using the Lego Mindstorm NXT, which is a programmable…
The research on sliding mode control strategy is generally based on the robust approach. The larger parameter space consideration will inevitably sacrifice part of the performance. Recently, the data-driven sliding mode control method…
The paper deals with systems of ordinary differential equations containing in the right-hand side controls which are discontinuous in phase variables. These controls cause the occurrence of sliding modes. If one uses one of the well-known…
In this paper, we will consider a class of continuous-time stochastic control systems with both unknown nonlinear structure and unknown disturbances, and investigate the capability of the classical proportional-integral-derivative(PID)…
In this paper, a novel recurrent adaptive backstepping optimal control strategy for a single inverted pendulum system is studied. By this method, an inverted pendulum is stabilized using projection recurrent neural network-based adaptive…
The recently introduced energy-saving extension of the sub-optimal sliding mode control allows for control-off phases during the convergence to second-order equilibrium. This way, it enables for a lower energy consumption compared to the…