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1

Lawrence, Jason William. "Crane Oscillation Control: Nonlinear Elements and Educational Improvements." Diss., Available online, Georgia Institute of Technology, 2006, 2006. http://etd.gatech.edu/theses/available/etd-07072006-175615/.

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Thesis (Ph. D.)--Mechanical Engineering, Georgia Institute of Technology, 2007.<br>William Singhose, Committee Chair ; Steven Danyluk, Committee Member ; Donna Llewellyn, Committee Member ; Nader Sadegh, Committee Member ; Neil Singer, Committee Member.
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2

Daqaq, Mohammed F. "Adaptation of Nontraditional Control Techniques to Nonlinear Micro and Macro Mechanical Systems." Diss., Virginia Tech, 2006. http://hdl.handle.net/10919/28466.

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We investigate the implementation of nontraditional open-loop and closed-loop control techniques to systems at the micro and macro scales. At the macro level, we consider a quay-side container crane. It is known that the United States relies on ocean transportation for 95% of cargo tonnage that moves in and out of the country. Each year over six million loaded marine containers enter U.S. ports. Current growth predictions indicate that container cargo will quadruple in the next twenty years. To cope with this rapid growth, we develop a novel open-loop input-shaping control technique to mitigate payload oscillations on quay-side container cranes. The proposed approach is suitable for automated crane operations, does not require any alterations to the existing crane structure, uses the maximum crane capabilities, and is based on an accurate two-dimensional four-bar-mechanism model of a container crane. The shaped commands are based on a nonlinear approximation of the two-dimensional model frequency and, unlike traditional input-shaping techniques, our approach can account for large hoisting operations. For operator-in-the-loop crane operations, we develop a closed-loop nonlinear delayed-position feedback controller. Key features of this controller are that it: does not require major modifications to the existing crane structure, accounts for motion inversion delays, rejects external disturbances, and is superimposed on the crane operator commands. To validate the controllers, we construct a 1:10 scale model of a 65-ton quay-side container crane. The facility consists of a 7-meter track, 3.5-meter hoisting cables, a trolley, a traverse motor, two hoisting motors, and a 50-pound payload. Using this setup, we demonstrated the effectiveness of the controllers in mitigating payload oscillations in both of the open-loop and closed-loop modes of operation. At the micro level, we consider a micro optical device known as the torsional micromirror. This device has a tremendous number of industrial and consumer market applications including optical switching, light scanning, digital displays, etc. To analyze this device, we develop a comprehensive model of an electrically actuated torsional mirror. Using a Galerkin expansion, we develop a reduced-order model of the mirror and verify it against experimental data. We investigate the accuracy of representing the mirror using a two-degrees-of-freedom lumped-mass model. We conclude that, under normal operating conditions, the statics and dynamics of the mirror can be accurately represented by the simplified lumped-mass system. We utilize the lumped-mass model to study and analyze the nonlinear dynamics of torsional micromirrors subjected to combined DC and resonant AC excitations. The analysis is aimed at enhancing the performance of micromirrors used for scanning applications by providing better insight into the effects of system parameters on the microscanner's optimal design and performance. Examining the characteristics of the mirror response, we found that, for a certain DC voltage range, a two-to-one internal resonance might be activated between the first two modes. Due to this internal resonance, the mirror exhibits complex dynamic behavior. This behavior results in undesirable vibrations that can be detrimental to the scanner performance. Torsional micromirrors are currently being implemented to provide all-optical switching in fiber optic networks. Traditional switching techniques are based on converting the optical signal into electrical signal and back into optical signal before it can be switched into another fiber. This reduces the rate of data transfer substantially. To realize fast all-optical switching, we enhance the transient dynamic characteristics and performance of torsional micromirrors by developing a novel technique for preshaping the voltage commands applied to activate the mirror. This new approach is the first to effectively account for inherent nonlinearities, damping effects, and the energy of the significant higher modes. Using this technique, we are able to realize very fast switching operations with minimal settling time and almost zero overshoot.<br>Ph. D.
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3

Waqar, Mohsin. "Robust nonlinear observer for a non-collocated flexible motion system." Thesis, Atlanta, Ga. : Georgia Institute of Technology, 2008. http://hdl.handle.net/1853/22696.

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4

Banaszuk, Andrzej. "Approximate feedback linearization of nonlinear control systems." Diss., Georgia Institute of Technology, 1995. http://hdl.handle.net/1853/29838.

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5

Lei, Hao. "Universal ouput feedback control of nonlinear systems." online version, 2008. http://rave.ohiolink.edu/etdc/view?acc%5Fnum=case1193422144.

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6

Lei, Hao. "Universal Output Feedback Control of Nonlinear Systems." Case Western Reserve University School of Graduate Studies / OhioLINK, 2008. http://rave.ohiolink.edu/etdc/view?acc_num=case1193422144.

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7

Leitner, Jesse. "Helicopter nonlinear control using adaptive feedback linearization." Diss., Georgia Institute of Technology, 1995. http://hdl.handle.net/1853/11985.

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8

Sangwin, Christopher James. "Uncertain dynamical systems and nonlinear adaptive control." Thesis, University of Bath, 2000. https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.341671.

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9

Wadoo, Sabiha Amin. "Feedback Control and Nonlinear Controllability of Nonholonomic Systems." Thesis, Virginia Tech, 2003. http://hdl.handle.net/10919/30963.

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In this thesis we study the methods for motion planning for nonholonomic systems. These systems are characterized by nonholonomic constraints on their generalized velocities. The motion planning problem with constraints on the velocities is transformed into a control problem having fewer control inputs than the degrees of freedom. The main focus of the thesis is on the study of motion planning and design of the feedback control laws for an autonomous underwater vehicle: a nonholonomic system. The nonlinear controllability issues for the system are also studied. For the design of feedback controllers, the system is transformed into chained and power forms. The methods of transforming a nonholonomic system into these forms are discussed. The work presented in this thesis is a step towards the initial study concerning the applicability of kinematic-based control on underwater vehicles.<br>Master of Science
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10

Mass, B. J. "Global stabilization of nonlinear systems by discontinuous feedback." Thesis, University of Sheffield, 1995. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.364238.

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11

Binning, Harpret Singh. "Robust feedback control of singularly perturbed uncertain nonlinear systems." Thesis, Coventry University, 1997. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.390543.

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12

Al-Gburi, Abeer. "Robustness analysis of nonlinear systems with feedback linearizing control." Thesis, University of Southampton, 2015. https://eprints.soton.ac.uk/375170/.

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The feedback linearization approach is a control method which employs feedback to stabilize systems containing nonlinearities. In order to accomplish this, it assumes perfect knowledge of the system model to linearize the input-output relationship. In the absence of perfect system knowledge, modelling errors inevitably affect the performance of the feedback controller. This thesis introduces a design and analysis approach for robust feedback linearizing controllers for nonlinear systems. This approach takes into account these model errors and provides robustness margins to guarantee the stability of feedback linearized systems. Based on robust stability theory, two important tools, namely the small gain theorem and the gap metric, are used to derive and validate robustness and performance margins for the feedback linearized systems. It is shown that the small gain theorem can provide unsatisfactory results, since the stability conditions found using this approach require the nonlinear plant to be stable. However, the gap metric approach is shown to yield general stability conditions which can be applied to both stable and unstable plants. These conditions show that the stability of the linearized systems depends on how exact the inversion of the plant nonlinearity is, within the nonlinear part of the controller. Furthermore, this thesis introduces an improved robust feedback linearizing controller which can classify the system nonlinearity into stable and unstable components and preserve the stabilizing action of the inherently stabilizing nonlinearities in the plant, cancelling only the unstable nonlinear part of the plant. Using this controller, it is shown that system stability depends on the bound on the input nonlinear component of the plant and how exact the inversion of the unstable nonlinear of the plant is, within the nonlinear part of the controller.
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13

Mohd, Isira Ahmad Sadhiqin Bin. "Consensus control of a class of nonlinear systems." Thesis, University of Manchester, 2016. https://www.research.manchester.ac.uk/portal/en/theses/consensus-control-of-a-class-of-nonlinear-systems(462b2f1a-d08b-4c52-9f3e-c2dcb7257acc).html.

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This dissertation aims at solving the consensus control problem of multi-agent systems with Lipschitz nonlinearity. This depends on the design of the controller that enables each agent or subsystem in multi-agent systems with Lipschitz nonlinearity to reach consensus; using the understanding of the agents' connection network from the knowledge of graph theory as well as the control system design strategy. The objective is achieved by designing a type of distributed control, namely the consensus control, which manipulates the relative information of each agent in a multi-agent systems in order to arrive at a single solution. In addition, containment control is also developed to solve containment problem. It is an extension of consensus control via leader-follower configuration, aimed at having each agent contained by multiple leaders in a multi-agent systems with Lipschitz nonlinearity. Four types of controllers are proposed - state-feedback consensus controller, observer-based consensus controller, state-feedback containment controller and observer-based containment controller; each provides the stability conditions based on Lyapunov stability analysis in time domain which enabled each agent or subsystem to reach consensus. The observer-based controllers are designed based on the consensus observer that is related to Luenberger observer. Linear Matrix Inequality (LMI) and Algebraic Riccati Equation (ARE) are utilized to obtain the solutions for the stability conditions. The simulation results of the proposed controllers and observers have been carried out to prove their theoretical validity. Several practical examples of flexible robot arm simulations are included to further validate the theoretical aspects of the thesis.
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14

Yallapragada, Subbarao. "Variable structure control and output feedback systems." Diss., Georgia Institute of Technology, 1993. http://hdl.handle.net/1853/13303.

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15

Cline, C. Harvey O. "Nonlinear control and active damping of a forced-feedback metering poppet valve." Diss., Columbia, Mo. : University of Missouri-Columbia, 2007. http://hdl.handle.net/10355/4780.

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Thesis (Ph. D.)--University of Missouri-Columbia, 2007.<br>The entire dissertation/thesis text is included in the research.pdf file; the official abstract appears in the short.pdf file (which also appears in the research.pdf); a non-technical general description, or public abstract, appears in the public.pdf file. Title from title screen of research.pdf file (viewed on January 31, 2008) Vita. Includes bibliographical references.
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16

Imsland, Lars. "Topics in nonlinear control. : Output Feedback Stabilization and Control of Positive Systems." Doctoral thesis, Norwegian University of Science and Technology, Faculty of Information Technology, Mathematics and Electrical Engineering, 2002. http://urn.kb.se/resolve?urn=urn:nbn:no:ntnu:diva-355.

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<p>The contributions of this thesis are in the area of control of systems with nonlinear dynamics. The thesis is divided into three parts. The two first parts are similar in the sense that they both consider output feedback of rather general classes of nonlinear systems, and both approaches are based on mathematical programming (although in quite different ways). The third part contains a state feedback approach for a specific system class, and is more application oriented.</p><p>The first part treats control of systems described by nonlinear difference equations, possibly with uncertain terms. The system dynamics are represented by piecewise affine difference inclusions, and for this system class, piecewise affine controller structures are suggested. Controller synthesis inequalities for such controller structures are given in the form of Bilinear Matrix Inequalities (BMIs). A solver for the BMIs is developed. The main contribution is to the output feedback case, where an observer-based controller structure is proposed. The theory is exemplified through two examples.</p><p>In the second part the output feedback problem is examined in the setting of Nonlinear Model Predictive Control (NMPC). The state space formulation of NMPC is inherently a state feedback approach, since the state is needed as initial condition for the prediction in the controller. Consequently, for output feedback it is natural to use observers to obtain estimates of the state. A high gain observer is applied for this purpose. It is shown that for several existing NMPC schemes, the state feedback stability properties ``semiglobally'' hold in the output feedback case. The theory is illuminated with a simple example.</p><p>Finally, a state feedback controller for a class of positive systems is proposed. Convergence of the state to a certain subset of the first orthant, corresponding to a constant ``total mass'' (interpreting states as masses) is obtained. Conditions are given under which convergence to this set implies asymptotic stability of an equilibrium. Simple examples illustrate some properties of the controller. Furthermore, the control strategy is applied to the stabilization of a gas-lifted oil well, and simulations on a rigorous multi-phase dynamic simulator of such a well demonstrate the controller performance.</p>
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17

Wang, Yuanjiu. "SEMIGLOBAL CONTROL OF TIME-DELAY NONLINEAR SYSTEMS BY MEMORYLESS FEEDBACK." Case Western Reserve University School of Graduate Studies / OhioLINK, 2021. http://rave.ohiolink.edu/etdc/view?acc_num=case1624878727664317.

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18

Yang, Bo. "Output Feedback Control of Nonlinear Systems with Unstabilizable/Undetectable Linearization." Case Western Reserve University School of Graduate Studies / OhioLINK, 2006. http://rave.ohiolink.edu/etdc/view?acc_num=case1132634014.

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19

Brunke, Shelby Scott. "Nonlinear filtering and system identification algorithms for autonomous systems /." Thesis, Connect to this title online; UW restricted, 2001. http://hdl.handle.net/1773/7095.

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20

Sun, Jiwei. "Memoryless Feedback Control of Time-Delay Nonlinear Systems with Triangular Structures." Case Western Reserve University School of Graduate Studies / OhioLINK, 2021. http://rave.ohiolink.edu/etdc/view?acc_num=case1625501512395044.

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21

Lai, Haoyu. "On the design of nonlinear gain scheduled control systems." Ohio : Ohio University, 1998. http://www.ohiolink.edu/etd/view.cgi?ohiou1176486900.

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22

Timmerman, Marc A. A. "Sub-optimal momentum managed control of 1-Dof nonlinear systems." Diss., Georgia Institute of Technology, 1992. http://hdl.handle.net/1853/17332.

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23

Zhang, Xiaohong. "Optimal feedback control for nonlinear discrete systems and applications to optimal control of nonlinear periodic ordinary differential equations." Diss., Virginia Tech, 1993. http://hdl.handle.net/10919/40185.

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24

Huang, Rui. "OUTPUT FEEDBACK TRACKING CONTROL OF NONLINEAR TIME-VARYING SYSTEMS BY TRAJECTORY LINEARIZATION." Ohio University / OhioLINK, 2007. http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1178906759.

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25

Martin, Gregory A. "Modeling, control, and observation of sampled-data nonlinear systems under delayed control and sensing." Diss., Georgia Institute of Technology, 1995. http://hdl.handle.net/1853/13914.

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26

Jiang, Junmin. "Fourier series-based learning control of nonlinear systems with backlash /." View abstract or full-text, 2008. http://library.ust.hk/cgi/db/thesis.pl?MECH%202008%20JIANG.

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27

Du, Hongliu. "Control of systems with uncertainties /." free to MU campus, to others for purchase, 1997. http://wwwlib.umi.com/cr/mo/fullcit?p9841139.

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28

Banach, Antoni StanisŁaw. "Feedback design for nonlinear distributed-parameter systems by extended linearization." Diss., Virginia Tech, 1992. http://hdl.handle.net/10919/39429.

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A feedback design procedure known as extended linearization consists in replacing a mathematical model of a nonlinear dynamical system with its family of linearizations, parametrized by the operating point, and then combining feedback gains designed for representatives of the family into a single nonlinear feedback law. The principles of the procedure, applicable both to lumped-parameter and distributed-parameter systems, are discussed at the outset. The development shows limits on feedback laws that can be designed, as well as nonuniqueness of solutions, inherent in the method.<br>Ph. D.
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29

Hauksdóttir, Anna Soffía. "State observers and state-feedback controllers for a class of nonlinear systems /." The Ohio State University, 1987. http://rave.ohiolink.edu/etdc/view?acc_num=osu1487327695621325.

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30

Ton, That Long. "Nonlinear control studies for circadian models in system biology." Thesis, University of Manchester, 2011. https://www.research.manchester.ac.uk/portal/en/theses/nonlinear-control-studies-for-circadian-models-in-system-biology(f616f360-99e4-4314-ba51-be7a49e9ff0e).html.

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Circadian rhythms exist in almost all of living species, and they occupy an important role in daily biological activities of these species. This thesis deals with reduction of measurements in circadian models, and recovery of circadian phases. Two mathematical models of circadian rhythms are considered, with a 3rd order model for Neurospora, and a 7th order model for Mammals. The reduction of measurements of circadian models is shown by the proposals of observer designs to the two mathematical models of circadian rhythms. Both mathematical models contain strong nonlinearities, which make the observer design challenging. Two observer designs, reduced-order and one-sided Lipschitz, are applied to the circadian models to tackle the nonlinearities. Reduced-order observer design is based on a state transformation to make certain nonlinearities have no impact on the observer errors, and the design of one-sided Lipschitz observer is based on systems with one-sided Lipschitz nonlinearities. Both observer designs are based on the existing methods in literature. The existing method of reduced-order observer has been applied to a class of multi-output nonlinear systems. A new reduced-order observer design which extends the existing one in literature is presented in this thesis. In this new reduced-order observer method, the observer error dynamics can be designed by choosing the observer gain, unlike the existing one, of which the observer error dynamics depend on the invariant zeros under certain input-output map. The recovery of circadian phases is carried out to provide a solution to phase shifts occurred in circadian disorders. The restoration of circadian phases is performed by the synchronizations of trajectories of a controlled model with trajectories of a reference model. The reference model and the controlled model have phase differences, and both these models are based on a given 3rd order model of Neurospora circadian rhythms. The phase differences are reflected by different initial conditions, and by parameter uncertainty. The synchronizations of the two models are performed by using back-stepping method for the case of different initial conditions, and by using adaptive back-stepping method for the remaining case. Several simulation studies of the proposed observer designs and the proposed schemes of synchronizations are carried out with the results shown in this thesis.
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31

Deng, Jiamei. "Predictive control of nonlinear systems using feedback linearisation based on dynamic neural networks." Thesis, University of Reading, 2005. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.433463.

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32

Ohran, Benjamin J. "Data-based fault detection and isolation for nonlinear process systems using feedback control." Diss., Restricted to subscribing institutions, 2009. http://proquest.umi.com/pqdweb?did=1875377311&sid=1&Fmt=2&clientId=1564&RQT=309&VName=PQD.

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33

Gu, Keqin. "Determining attractors, basins of attraction and trajectory control of nonlinear dynamical systems." Diss., Georgia Institute of Technology, 1988. http://hdl.handle.net/1853/22970.

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34

Lawrence, Jason William. "Improving motion of systems with coulomb friction." Thesis, Georgia Institute of Technology, 2002. http://hdl.handle.net/1853/16012.

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35

Maeda, Ken. "Nonlinear control system of inverted pendulum based on input-output linearization." Diss., Online access via UMI:, 2006.

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36

Nardi, Flavio. "Neural network based adaptive alogrithms for nonlinear control." Diss., Georgia Institute of Technology, 2000. http://hdl.handle.net/1853/12012.

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37

Cimen, Tayfun. "Global optimal feedback control of nonlinear systems and viscosity solutions of Hamilton-Jacobi-Bellman equations." Thesis, University of Sheffield, 2003. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.289660.

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38

Abdelrahim, Mahmoud. "Output feedback event-triggered control." Thesis, Université de Lorraine, 2014. http://www.theses.fr/2014LORR0110/document.

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La commande à transmissions événementielles est une approche dans laquelle les instants de transmission sont définis selon un critère dépendant de l'état du système et non plus d'une horloge à l'instar des implantations périodiques. Dans cette thèse, nous nous concentrons sur la synthèse de telles lois de commande par retour de sortie. Les contributions sont les suivantes : (i) nous proposons une méthode de synthèse dite par émulation pour des systèmes non linéaires; (ii) nous présentons une méthode de synthèse jointe de la loi de commande et de la condition de déclenchement pour les systèmes linéaires; (iii) nous nous intéressons au cas de systèmes non linéaires singulièrement perturbés et nous construisons le contrôleur à partir d’approximation de la dynamique lente uniquement<br>Event-triggered control is a sampling paradigm in which the sequence of transmission instants is determined based on the violation of a state-dependent criterion and not a time-driven clock. In this thesis, we deal with event-triggered output-based controllers to stabilize classes of nonlinear systems. The contributions of the presented material are threefold: (i) we stabilize a class of nonlinear systems by using an emulation-based approach; (ii) we develop a co-design procedure to simultaneously design the output feedback law and the event-triggering condition for linear systems; (iii) we propose stabilizing event-triggered controllers for nonlinear systems whose dynamics have two-time scales (in particular, we only rely on the knowledge of an approximate model of the slow dynamics)
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39

Liao, Chwen Kai. "Adaptive Control of a Camera-Projection System using Vision-Based Feedback." Thesis, Virginia Tech, 2016. http://hdl.handle.net/10919/79563.

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This thesis derives an vision based feedback control strategy for a class of uncertain projector-camera systems that are used to animate two dimensional projected images on complex, three dimensional, articulated target objects. The target object of the robotic system is articulated using an open loop control strategy that generates a desired sequence of target poses that are designed using commercially available geometric modeling software. The ideal or desired image sequences are subsequently rendered in the geometric modeling software using an ideal camera/projector pose and ideal intrinsic parameter camera model. The rendered imagery from the ideal camera and projector pose are subsequently used to define tracking performance for the feedback control of the camera and projector. Uncertainty in actuator models of the camera and projector actuator subsystems in this paper includes contributions due to imprecision in camera pose and in intrinsic camera parameters. A feedback control strategy is derived that employs pixel coordinates of multiple tracked feature points in the target image sequence for pose estimation and tracking control problems. We establish sufficient conditions that guarantee the convergence and asymptotic stability of the pose estimation and tracking control problems for the class of uncertain, nonlinear systems studied in this thesis. Several numerical studies are summarized in the thesis that provide confidence in the derived theoretical results and further suggest robustness of the control strategy for the considered uncertainty class.<br>Master of Science
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40

Patre, Parag. "Lyapunov-based robust and adaptive control of nonlinear systems using a novel feedback structure." [Gainesville, Fla.] : University of Florida, 2009. http://purl.fcla.edu/fcla/etd/UFE0024807.

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41

Vargas, Henik Vladimir. "Robust damping of a directional microphone using digital feedback." Diss., Online access via UMI:, 2008.

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Thesis (M.S.)--State University of New York at Binghamton, Thomas J. Watson School of Engineering and Applied Science, Department of Electrical and Computer Engineering, 2008.<br>Includes bibliographical references.
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42

Vance, Jonathan Blake. "Neural network control of nonstrict feedback and nonaffine nonlinear discrete-time systems with application to engine control." Diss., Rolla, Mo. : University of Missouri-Rolla, 2007. http://scholarsmine.umr.edu/thesis/pdf/Vance_09007dcc8043fb11.pdf.

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Thesis (Ph. D.)--University of Missouri--Rolla, 2007.<br>Vita. The entire thesis text is included in file. Title from title screen of thesis/dissertation PDF file (viewed March 26, 2008) Includes bibliographical references.
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43

Tayamon, Soma. "Nonlinear System Identification and Control Applied to Selective Catalytic Reduction Systems." Doctoral thesis, Uppsala universitet, Avdelningen för systemteknik, 2014. http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-229148.

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The stringent regulations of emission levels from heavy duty vehicles create a demand for new methods for reducing harmful emissions from diesel engines. This thesis deals with the modelling of the nitrogen oxide (NOx) emissions from heavy duty vehicles using a selective catalyst as an aftertreatment system, utilising ammonia (NH3) for its reduction. The process of the selective catalytic reduction (SCR) is nonlinear, since the result of the chemical reactions involved depends on the load operating point and the temperature. The purpose of this thesis is to investigate different methods for nonlinear system identification of SCR systems with control applications in mind. The main focus of the thesis is on finding suitable techniques for effective NOx reduction without the need of over dosage of ammonia. By using data collected from a simulator together with real measured data, new black-box identification techniques are developed. Scaling and convergence properties of the proposed algorithms are analysed theoretically. Some of the resulting models are used for controller development using e.g. feedback linearisation techniques, followed by validation in a simulator environment. The benefits of nonlinear modelling and control of the SCR system are highlighted in a comparison with control based on linear models of the system. Further, a multiple model approach is investigated for simultaneous control of NOx and tailpipe ammonia. The results indicate an improvement in terms of ammonia slip reduction in comparison with models that do not take the ammonia slip into account. Another approach to NOx reduction is achieved by controlling the SCR temperature using techniques developed for LPV systems. The results indicate a reduction of the accumulated NOx.
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44

Fagan, Gary T. "An experimental investigation into active damage control systems using positive position feedback for AVC." Thesis, Virginia Tech, 1993. http://hdl.handle.net/10919/42624.

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This work discusses the use of Positive Position Feedback (PPF) for Active Vibration Control as part of an Active Damage Control System (ADCS). Vibration control increases the fatigue life of a structure and decreases the in-plane stresses that can cause delamination in a composite. PPF is a collocated direct-output feedback control method that increases the effective damping in a structure. A simply-supported beam was used as the testbed which used strain gages as the sensing element and piezoelectric ceramics as the actuator.</p> <p> Initial investigations into sampled-data systems using PPF are presented. The issues addressed are: stability of the sampled system, the effects of the sampling rate on the system, and degradation from predicted analog performance. A digital design procedure for the tuning filters in the Z-plane is suggested if the sampling rate to be used is known. If the sampling rate varies significantly, to avoid redesigning the filters for each new sampling rate, they should be designed in the continuous-time and transformed to the Z-plane. The Tustin transformation was found to adequately map the poles and zeros of the compensator to the Z-plane for digital control.</p> <p> Experimental implementation of PPF on a simply-supported beam resulted in vibration suppression of three modes with a S180 controller. The beam was subjected to both a single-frequency harmonic disturbance and a broadband harmonic disturbance. One, two, and three-mode controllers were designed with disturbance suppression up to 15dB achieved.</p><br>Master of Science
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45

Fortgang, Joel D. "Concurrent design of input shaping and vibration absorbers." Thesis, Georgia Institute of Technology, 2001. http://hdl.handle.net/1853/17130.

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46

Solanes, Galbis Juan Ernesto. "MULTI-RATE VISUAL FEEDBACK ROBOT CONTROL." Doctoral thesis, Universitat Politècnica de València, 2015. http://hdl.handle.net/10251/57951.

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[EN] This thesis deals with two characteristic problems in visual feedback robot control: 1) sensor latency; 2) providing suitable trajectories for the robot and for the measurement in the image. All the approaches presented in this work are analyzed and implemented on a 6 DOF industrial robot manipulator or/and a wheeled robot. Focusing on the sensor latency problem, this thesis proposes the use of dual-rate high order holds within the control loop of robots. In this sense, the main contributions are: - Dual-rate high order holds based on primitive functions for robot control (Chapter 3): analysis of the system performance with and without the use of this multi-rate technique from non-conventional control. In addition, as consequence of the use of dual-rate holds, this work obtains and validates multi-rate controllers, especially dual-rate PIDs. - Asynchronous dual-rate high order holds based on primitive functions with time delay compensation (Chapter 3): generalization of asynchronous dual-rate high order holds incorporating an input signal time delay compensation component, improving thus the inter-sampling estimations computed by the hold. It is provided an analysis of the properties of such dual-rate holds with time delay compensation, comparing them with estimations obtained by the equivalent dual-rate holds without this compensation, as well as their implementation and validation within the control loop of a 6 DOF industrial robot manipulator. - Multi-rate nonlinear high order holds (Chapter 4): generalization of the concept of dual-rate high order holds with nonlinear estimation models, which include information about the plant to be controlled, the controller(s) and sensor(s) used, obtained from machine learning techniques. Thus, in order to obtain such a nonlinear hold, it is described a methodology non dependent of the machine technique used, although validated using artificial neural networks. Finally, an analysis of the properties of these new holds is carried out, comparing them with their equivalents based on primitive functions, as well as their implementation and validation within the control loop of an industrial robot manipulator and a wheeled robot. With respect to the problem of providing suitable trajectories for the robot and for the measurement in the image, this thesis presents the novel reference features filtering control strategy and its generalization from a multi-rate point of view. The main contributions in this regard are: - Reference features filtering control strategy (Chapter 5): a new control strategy is proposed to enlarge significantly the solution task reachability of robot visual feedback control. The main idea is to use optimal trajectories proposed by a non-linear EKF predictor-smoother (ERTS), based on Rauch-Tung-Striebel (RTS) algorithm, as new feature references for an underlying visual feedback controller. In this work it is provided both the description of the implementation algorithm and its implementation and validation utilizing an industrial robot manipulator. - Dual-rate Reference features filtering control strategy (Chapter 5): a generalization of the reference features filtering approach from a multi-rate point of view, and a dual Kalman-smoother step based on the relation of the sensor and controller frequencies of the reference filtering control strategy is provided, reducing the computational cost of the former algorithm, as well as addressing the problem of the sensor latency. The implementation algorithms, as well as its analysis, are described.<br>[ES] La presente tesis propone soluciones para dos problemas característicos de los sistemas robóticos cuyo bucle de control se cierra únicamente empleando sensores de visión artificial: 1) la latencia del sensor; 2) la obtención de trayectorias factibles tanto para el robot así como para las medidas obtenidas en la imagen. Todos los métodos propuestos en este trabajo son analizados, validados e implementados utilizando brazo robot industrial de 6 grados de libertad y/o en un robot con ruedas. Atendiendo al problema de la latencia del sensor, esta tesis propone el uso de retenedores bi-frequencia de orden alto dentro de los lazos de control de robots. En este aspecto las principales contribuciones son: -Retenedores bi-frecuencia de orden alto basados en funciones primitivas dentro de lazos de control de robots (Capítulo 3): análisis del comportamiento del sistema con y sin el uso de esta técnica de control no convencional. Además, como consecuencia del empleo de los retenedores, obtención y validación de controladores multi-frequencia, concretamente de PIDs bi-frecuencia. -Retenedores bi-frecuencia asíncronos de orden alto basados en funciones primitivas con compensación de retardos (Capítulo 3): generalización de los retenedores bi-frecuencia asíncronos de orden alto incluyendo una componente de compensación del retardo en la señal de entrada, mejorando así las estimaciones inter-muestreo calculadas por el retenedor. Se proporciona un análisis de las propiedades de los retenedores con compensación del retardo, comparándolas con las obtenidas por sus predecesores sin compensación, así como su implementación y validación en un brazo robot de 6 grados de libertad. -Retenedores multi-frecuencia no lineales de orden alto (Capítulo 4): generalización del concepto de retenedor bi-frecuencia de orden alto con modelos de estimación no lineales, los cuales incluyen información tanto de la planta a controlar, como del controlador(es) y sensor(es) empleado(s), obtenida a partir de técnicas de aprendizaje. Así pues, para obtener dicho retenedor no lineal, se describe una metodología independiente de la herramienta de aprendizaje utilizada, aunque validada con el uso de redes neuronales artificiales. Finalmente se realiza un análisis de las propiedades de estos nuevos retenedores, comparándolos con sus predecesores basados en funciones primitivas, así como su implementación y validación en un brazo robot de 6 grados de libertad y en un robot móvil con ruedas. Por lo que respecta al problema de generación de trayectorias factibles para el robot y para la medida en la imagen, esta tesis propone la nueva estrategia de control basada en el filtrado de la referencia y su generalización desde el punto de vista multi-frecuencial. -Estrategia de control basada en el filtrado de la referencia (Capítulo 5): una nueva estrategia de control se propone para ampliar significativamente el espacio de soluciones de los sistemas robóticos realimentados con sensores de visión artificial. La principal idea es utilizar las trayectorias óptimas obtenidas por una trayectoria predicha por un filtro de Kalman seguido de un suavizado basado en el algoritmo Rauch-Tung-Striebel (RTS) como nuevas referencias para un controlador dado. En este trabajo se proporciona tanto la descripción del algoritmo como su implementación y validación empleando un brazo robótico industrial. -Estrategia de control bi-frecuencia basada en el filtrado de la referencia (Capítulo 5): generalización de la estrategia de control basada en filtrado de la referencia desde un punto de vista multi-frecuencial, con un filtro de Kalman multi-frecuencia y un Kalman-smoother dual basado en la relación existente entre las frecuencias del sensor y del controlador, reduciendo así el coste computacional del algoritmo y, al mismo tiempo, dando solución al problema de la latencia del sensor. La validación se realiza utilizando un barzo robot industria asi<br>[CAT] La present tesis proposa solucions per a dos problemes característics dels sistemes robòtics el els que el bucle de control es tanca únicament utilitzant sensors de visió artificial: 1) la latència del sensor; 2) l'obtenció de trajectòries factibles tant per al robot com per les mesures en la imatge. Tots els mètodes proposats en aquest treball son analitzats, validats e implementats utilitzant un braç robot industrial de 6 graus de llibertat i/o un robot amb rodes. Atenent al problema de la latència del sensor, esta tesis proposa l'ús de retenidors bi-freqüència d'ordre alt a dins del llaços de control de robots. Al respecte, les principals contribucions son: - Retenidors bi-freqüència d'ordre alt basats en funcions primitives a dintre dels llaços de control de robots (Capítol 3): anàlisis del comportament del sistema amb i sense l'ús d'aquesta tècnica de control no convencional. A més a més, com a conseqüència de l'ús dels retenidors, obtenció i validació de controladors multi-freqüència, concretament de PIDs bi-freqüència. - Retenidors bi-freqüència asíncrons d'ordre alt basats en funcions primitives amb compensació de retards (Capítol 3): generalització dels retenidors bi-freqüència asíncrons d'ordre alt inclouen una component de compensació del retràs en la senyal d'entrada al retenidor, millorant així les estimacions inter-mostreig calculades per el retenidor. Es proporciona un anàlisis de les propietats dels retenidors amb compensació del retràs, comparant-les amb les obtingudes per el seus predecessors sense la compensació, així com la seua implementació i validació en un braç robot industrial de 6 graus de llibertat. - Retenidors multi-freqüència no-lineals d'ordre alt (Capítol 4): generalització del concepte de retenidor bi-freqüència d'ordre alt amb models d'estimació no lineals, incloent informació tant de la planta a controlar, com del controlador(s) i sensor(s) utilitzat(s), obtenint-la a partir de tècniques d'aprenentatge. Així doncs, per obtindre el retenidor no lineal, es descriu una metodologia independent de la ferramenta d'aprenentatge utilitzada, però validada amb l'ús de rets neuronals artificials. Finalment es realitza un anàlisis de les propietats d'aquestos nous retenidors, comparant-los amb els seus predecessors basats amb funcions primitives, així com la seua implementació i validació amb un braç robot de 6 graus de llibertat i amb un robot mòbil de rodes. Per el que respecta al problema de generació de trajectòries factibles per al robot i per la mesura en la imatge, aquesta tesis proposa la nova estratègia de control basada amb el filtrat de la referència i la seua generalització des de el punt de vista multi-freqüència. - Estratègia de control basada amb el filtrat de la referència (Capítol 5): una nova estratègia de control es proposada per ampliar significativament l'espai de solucions dels sistemes robòtics realimentats amb sensors de visió artificial. La principal idea es la d'utilitzar les trajectòries optimes obtingudes per una trajectòria predita per un filtre de Kalman seguit d'un suavitzat basat en l'algoritme Rauch-Tung-Striebel (RTS) com noves referències per a un control donat. En aquest treball es proporciona tant la descripció del algoritme així com la seua implementació i validació utilitzant un braç robòtic industrial de 6 graus de llibertat. - Estratègia de control bi-freqüència basada en el filtrat (Capítol 5): generalització de l'estratègia de control basada am filtrat de la referència des de un punt de vista multi freqüència, amb un filtre de Kalman multi freqüència i un Kalman-Smoother dual basat amb la relació existent entre les freqüències del sensor i del controlador, reduint així el cost computacional de l'algoritme i, al mateix temps, donant solució al problema de la latència del sensor. L'algoritme d'implementació d'aquesta tècnica, així com la seua validaci<br>Solanes Galbis, JE. (2015). MULTI-RATE VISUAL FEEDBACK ROBOT CONTROL [Tesis doctoral no publicada]. Universitat Politècnica de València. https://doi.org/10.4995/Thesis/10251/57951<br>TESIS
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47

Simoni, Mario F. "Synthesis and analysis of a physical model of biological rhythmic motor control with sensorimotor feedback." Diss., Georgia Institute of Technology, 2002. http://hdl.handle.net/1853/13284.

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48

Buchner, Helmut Josef. "Control of robot manipulators on task oriented surfaces by nonlinear decoupling feedback and compensation of certain classes of disturbances /." The Ohio State University, 1986. http://rave.ohiolink.edu/etdc/view?acc_num=osu1487268021748763.

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49

Taylor, Jonathan. "Robust Bode Methods for Feedback Controller Design of Uncertain Systems." Research Showcase @ CMU, 2014. http://repository.cmu.edu/dissertations/447.

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In this work, we introduce several novel approaches to feedback controller design, known collectively as the “Robust Bode” methods, which adapt classical control principles to a modern robust control (H∞) framework. These methods, based on specially modified Bode diagrams extend familiar frequency-domain controller design techniques to linear and nonlinear, single–input/single– output (SISO) and multi–input/multi–output (MIMO) systems with parametric and/or unstructured uncertainties. In particular, we introduce the Contoured Robust Controller Bode (CRCBode) plots which show contours (level-sets) of a robust metric on the Bode magnitude and phase plots of the controller. An iterative loop shaping design procedure is then employed in an attempt to eliminate all intersections of the controller frequency response with certain forbidden regions indicating that a robust stability and performance criteria is satisfied. For SISO systems a robust stability and performance criterion is derived using Nyquist arguments leading to the robust metric used in the construction of the CRCBode plots. For open-loop unstable systems and for non-minimum phase systems the Youla parametrization of all internally stabilizing controllers is used to develop an alternative Robust Bode method (QBode). The Youla parametrization requires the introduction of state-space methods for coprime factorization, and these methods lead naturally to an elegant connection between linear-quadratic Gaussian (LQG) optimal control theory and Robust Bode loop-shaping controller design. Finally, the Robust Bode approach is extended to MIMO systems. Utilizing a matrix norm based robustness metric on the MIMO CRCBode plots allows cross-coupling between all input/output channels to be immediately assessed and accounted for during the design process, making sequential MIMO loop-shaping controller design feasible.
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50

Sagers, Jason Derek. "Analog Feedback Control of an Active Sound Transmission Control Module." Diss., CLICK HERE for online access, 2008. http://contentdm.lib.byu.edu/ETD/image/etd2461.pdf.

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