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Dissertations / Theses on the topic 'Stochastic robust control'

Author: Grafiati

Published: 30 May 2022

Last updated: 26 July 2025

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1

Cheng, Qifeng. "Robust & stochastic model predictive control." Thesis, University of Oxford, 2012. http://ora.ox.ac.uk/objects/uuid:89da4934-9de7-4142-958e-513065189518.

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In the thesis, two different model predictive control (MPC) strategies are investigated for linear systems with uncertainty in the presence of constraints: namely robust MPC and stochastic MPC. Firstly, a Youla Parameter is integrated into an efficient robust MPC algorithm. It is demonstrated that even in the constrained cases, the use of the Youla Parameter can desensitize the costs to the effect of uncertainty while not affecting the nominal performance, and hence it strengthens the robustness of the MPC strategy. Since the controller u = K x + c can offer many advantages and is used across

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2

Munoz, Carpintero Diego Alejandro. "Strategies in robust and stochastic model predictive control." Thesis, University of Oxford, 2014. http://ora.ox.ac.uk/objects/uuid:2f6bce71-f91f-4d5a-998f-295eff5b089a.

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The presence of uncertainty in model predictive control (MPC) has been accounted for using two types of approaches: robust MPC (RMPC) and stochastic MPC (SMPC). Ideal RMPC and SMPC formulations consider closed-loop optimal control problems whose exact solution, via dynamic programming, is intractable for most systems. Much effort then has been devoted to find good compromises between the degree of optimality and computational tractability. This thesis expands on this effort and presents robust and stochastic MPC strategies with reduced online computational requirements where the conservativene

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Fleming, James. "Robust and stochastic MPC of uncertain-parameter systems." Thesis, University of Oxford, 2016. https://ora.ox.ac.uk/objects/uuid:c19ff07c-0756-45f6-977b-9d54a5214310.

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Constraint handling is difficult in model predictive control (MPC) of linear differential inclusions (LDIs) and linear parameter varying (LPV) systems. The designer is faced with a choice of using conservative bounds that may give poor performance, or accurate ones that require heavy online computation. This thesis presents a framework to achieve a more flexible trade-off between these two extremes by using a state tube, a sequence of parametrised polyhedra that is guaranteed to contain the future state. To define controllers using a tube, one must ensure that the polyhedra are a sub-set of th

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Evans, Martin A. "Multiplicative robust and stochastic MPC with application to wind turbine control." Thesis, University of Oxford, 2014. http://ora.ox.ac.uk/objects/uuid:0ad9b878-00f3-4cfa-a683-148765e3ae39.

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A robust model predictive control algorithm is presented that explicitly handles multiplicative, or parametric, uncertainty in linear discrete models over a finite horizon. The uncertainty in the predicted future states and inputs is bounded by polytopes. The computational cost of running the controller is reduced by calculating matrices offline that provide a means to construct outer approximations to robust constraints to be applied online. The robust algorithm is extended to problems of uncertain models with an allowed probability of violation of constraints. The probabilistic degrees of sa

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5

Hua, H. "Optimal and robust control for a class of nonlinear stochastic systems." Thesis, University of Liverpool, 2016. http://livrepository.liverpool.ac.uk/3001023/.

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This thesis focuses on theoretical research of optimal and robust control theory for a class of nonlinear stochastic systems. The nonlinearities that appear in the diffusion terms are of a square-root type. Under such systems the following problems are investigated: optimal stochastic control in both finite and infinite horizon; robust stabilization and robust H∞ control; H₂/H∞ control in both finite and infinite horizon; and risk-sensitive control. The importance of this work is that explicit optimal linear controls are obtained, which is a very rare case in the nonlinear system. This is rega

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Kim, Dongwook Sawan Edwin M. "Application of stochastic control and robust stability of singularly perturbed unified systems." Diss., Click here for available full-text of this thesis, 2006. http://library.wichita.edu/digitallibrary/etd/2006/t026.pdf.

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Thesis (M.S.)--Wichita State University, Dept. of Electrical Engineering.<br>"August 2006." Title from PDF title page (viewed on October 2, 2006). Thesis adviser: Edwin M. Sawan. Includes bibliographic references (leaves 50-53).

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7

Song, Miao Ph D. Massachusetts Institute of Technology. "Applications of stochastic inventory control in market-making and robust supply chains." Thesis, Massachusetts Institute of Technology, 2010. http://hdl.handle.net/1721.1/62049.

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Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Civil and Environmental Engineering, 2010.<br>Cataloged from PDF version of thesis.<br>Includes bibliographical references (p. 169-172).<br>This dissertation extends the classical inventory control model to address stochastic inventory control problems raised in market-making and robust supply chains. In the financial market, market-makers assume the role of a counterpart so that investors can trade any fixed amounts of assets at quoted bid or ask prices at any time. Market-makers benefit from the spread between the bid and ask p

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8

Yang, Lin. "Linear robust H-infinity stochastic control theory on the insurance premium-reserve processes." Thesis, University of Liverpool, 2015. http://livrepository.liverpool.ac.uk/2037227/.

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This thesis deals with the stability analysis of linear discrete-time premium-reserve (P-R) systems in a stochastic framework. Such systems are characterised by a mixture of the premium pricing process and the medium- and long- term stability in the accumulated reserve (surplus) policy, and they play a key role in the modern actuarial literature. Although the mathematical and practical analysis of P-R systems is well studied and motivated, their stability properties have not been studied thoughtfully and they are restricted in a deterministic framework. In Engineering, during the last three de

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9

Paul, Anand Abraham. "Stochastic models in the analysis of project subcontracting and robustness to variability in project networks." Full text (PDF) from UMI/Dissertation Abstracts International, 2000. http://wwwlib.umi.com/cr/utexas/fullcit?p9992885.

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10

Azad, Saeed. "Combined Design and Control Optimization of Stochastic Dynamic Systems." University of Cincinnati / OhioLINK, 2020. http://rave.ohiolink.edu/etdc/view?acc_num=ucin1602153122063302.

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11

Chohan, Neha. "Robust trajectory planning of autonomous vehicles at intersections with communication impairments." Thesis, Luleå tekniska universitet, Rymdteknik, 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-75571.

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In this thesis, we consider the trajectory planning of an autonomous vehicle to cross an intersection within a given time interval. The vehicle communicates its sensordata to a central coordinator which then computes the trajectory for the given time horizon and sends it back to the vehicle. We consider a realistic scenario in which the communication links are unreliable, the evolution of the state has noise (e.g., due to the model simplification and environmental disturbances), and the observationis noisy (e.g., due to noisy sensing and/or delayed information). The intersection crossing is mo

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12

Lin, Jessica. "Robust Modelling of the Glucose-Insulin System for Tight Glycemic Control of Critical Care Patients." Thesis, University of Canterbury. Mechanical, 2007. http://hdl.handle.net/10092/1570.

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Hyperglycemia is prevalent in critical care, as patients experience stress-induced hyperglycemia, even with no history of diabetes. Hyperglycemia has a significant impact on patient mortality, outcome and health care cost. Tight regulation can significantly reduce these negative outcomes, but achieving it remains clinically elusive, particularly with regard to what constitutes tight control and what protocols are optimal in terms of results and clinical effort. Hyperglycemia in critical care is not largely benign, as once thought, and has a deleterious effect on outcome. Recent studies have sh

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13

Van, Langenhove Jan Willem. "Adaptive control of deterministic and stochastic approximation errors in simulations of compressible flow." Thesis, Paris 6, 2017. http://www.theses.fr/2017PA066357/document.

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La simulation de systèmes d'ingénierie non linéaire complexes tels que les écoulements de fluide compressibles peut être ciblée pour rendre plus efficace et précise l'approximation d'une quantité spécifique (scalaire) d'intérêt du système. En mettant de côté l'erreur de modélisation et l'incertitude paramétrique, on peut y parvenir en combinant des estimations d'erreurs axées sur des objectifs et des raffinements adaptatifs de maillage spatial anisotrope. A cette fin, un cadre élégant et efficace est celui de l'adaptation dite basé-métrique où une estimation d'erreur a priori est utilisée comm

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Lin, Xiaohai [Verfasser]. "Robust and Stochastic Model Predictive Control of Linear Systems with Predictable Additive Disturbance : with Application to Multi-Objective Adaptive Cruise Control / Xiaohai Lin." Düren : Shaker, 2020. http://d-nb.info/121347261X/34.

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Zhu, Dinghuan. "Multi - Timescale Control of Energy Storage Enabling the Integration of Variable Generation." Research Showcase @ CMU, 2014. http://repository.cmu.edu/dissertations/332.

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A two-level optimal coordination control approach for energy storage and conventional generation consisting of advanced frequency control and stochastic optimal dispatch is proposed to deal with the real power balancing control problem introduced by variable renewable energy sources (RESs) in power systems. In the proposed approach, the power and energy constraints on energy storage are taken into account in addition to the traditional power system operational constraints such as generator output limits and power network constraints. The advanced frequency control level which is based on the r

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Ahmad, Ayaz. "On Resource Optimization and Robust CQI Reporting for Wireless Communication Systems." Phd thesis, Supélec, 2011. http://tel.archives-ouvertes.fr/tel-00771973.

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Adaptive resource allocation in wireless communication systems is crucial in order to support the diverse QoS needs of the services and optimize resource utilization. The design of resource allocation schemes should consider the service type for which it is intended. Moreover, due to feedback delay and channel estimation error, the Channel Quality Indicator (CQI) reported to the transmitter may not be a perfect measure of the channel quality and its use for resource allocation may severely degrade the systems performance. In this thesis, we study resource allocation and CQI reporting for wirel

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17

Liu, Jianzhe. "On Control and Optimization of DC Microgrids." The Ohio State University, 2017. http://rave.ohiolink.edu/etdc/view?acc_num=osu1512049527948171.

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Caceres, Zuniga Yusef Rafael. "Alocação de potencia em sistemas de comunicações sem fio : abordagens estocastica via o CVaR e robusta." [s.n.], 2007. http://repositorio.unicamp.br/jspui/handle/REPOSIP/261030.

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Orientador: Michel Daoud Yacoub<br>Tese (doutorado) - Universidade Estadual de Campinas, Faculdade de Engenharia Eletrica e de Computação<br>Made available in DSpace on 2018-08-10T01:21:53Z (GMT). No. of bitstreams: 1 CaceresZuniga_YusefRafael_D.pdf: 1196886 bytes, checksum: b589961266e398a3fd22bfd7b30719e4 (MD5) Previous issue date: 2007<br>Resumo: Nesta tese, estuda-se o problema da alocação de potência através de duas abordagens: estocástica e robusta, sendo os ganhos do canal, que descrevem o estado do sistema de comunicações sem fio, parcialmente observados pelo decisor. Na abordagem es

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Хоменко, Віктор Віталійович. "Багатокритеріальний синтез систем із анізотропійними регуляторами на основі стохастичної мультиагентної оптимізації". Thesis, Українська інженерно-педагогічна академія, 2016. http://repository.kpi.kharkov.ua/handle/KhPI-Press/22705.

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Дисертація на здобуття наукового ступеня кандидата технічних наук за спеціальністю 05.13.03 – системи та процеси керування. – Національний технічний університет "Харківський політехнічний інститут", Харків, 2016. У роботі вирішена науково-практична задача підвищення точності керування багатомасовими електромеханічними системами з невизначеними параметрами на основі багатокритеріального підходу до стохастичних робастних методів. Розроблено метод багатокритеріального синтезу анізотропійних регуляторів для керування багатомасовими електромеханічними системами із параметричною невизначеністю. Ба

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N'Goran, Arnold. "Contrôle optimal et gestion énergétique d'une station d'énergie autonome par optimisation robuste." Thesis, Université Paris sciences et lettres, 2020. http://www.theses.fr/2020UPSLM050.

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Le contrôle des micro-réseaux électriques repose sur un problème d’optimisation complexe quand il doit tenir compte de la production intermittente et imparfaitement prévisible des sources d’énergie renouvelables, et de la dynamique physique court-terme des solutions de stockage mises en place pour pallier à cette intermittence. Cette thèse veut apporter un éclairage sur la performance pratique comparée des méthodes d’optimisation pour le contrôle, avec la mise en œuvre de différentes stratégies, exactes ou approchées, analytiques ou numériques, déterministes, stochastiques ou robustes<br>Power

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21

Хоменко, Віктор Віталійович. "Багатокритеріальний синтез систем із анізотропійними регуляторами на основі стохастичної мультиагентної оптимізації". Thesis, НТУ "ХПІ", 2016. http://repository.kpi.kharkov.ua/handle/KhPI-Press/22704.

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Дисертація на здобуття наукового ступеня кандидата технічних наук за спеціальністю 05.13.03 – системи та процеси керування. – Національний технічний університет "Харківський політехнічний інститут", Харків, 2016. У роботі вирішена науково-практична задача підвищення точності керування багатомасовими електромеханічними системами з невизначеними параметрами на основі багатокритеріального підходу до стохастичних робастних методів. Розроблено метод багатокритеріального синтезу анізотропійних регуляторів для керування багатомасовими електромеханічними системами із параметричною невизначеністю. Баг

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22

Horchler, Andrew de Salle. "Design of Stochastic Neural-inspired Dynamical Architectures: Coordination and Control of Hyper-redundant Robots." Case Western Reserve University School of Graduate Studies / OhioLINK, 2016. http://rave.ohiolink.edu/etdc/view?acc_num=case1459442036.

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23

Karim, Yassine. "Caractérisation robuste de liaisons amortissantes avec dispositifs piezo-électriques pour la réduction de vibrations de structures." Phd thesis, Conservatoire national des arts et metiers - CNAM, 2013. http://tel.archives-ouvertes.fr/tel-00953330.

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L'étude présentée dans ce document a pour objet l'étude de différents modes de réduction de vibrations dans les structures avec liaisons. Le premier mode étudié se base sur la dissipation d'énergie apportée par la déformation d' éléments piézoélectriques connectés à un circuit électrique adapté. Le second mode proposé se base sur la propriété de la liaison boulonnée à changer les fréquences propres d'une structure en fonction du serrage appliqué. Cette propriété est utilisée avec plusieurs lois de contrôle du serrage afin d'éviter les plages de fréquences critiques. Ensuite une étude probabili

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Ranjbar, Gigasari Roza. "Model Predictive Controller for large-scale systems - Application to water networks." Electronic Thesis or Diss., Ecole nationale supérieure Mines-Télécom Lille Douai, 2024. http://www.theses.fr/2024MTLD0002.

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Cette thèse aborde le défi de l’optimisation de la gestion des ressources en eau au sein des canaux. Il s’agit d’une tâche particulièrement complexe en raison de leur échelle étendue et de la nature diverse de leurs composants, mais également de leurs dynamiques complexes caractérisées par des retards importants et parfois des pentes nulles. En ce qui concerne les réseaux de voies navigables, l’objectif principal est de mettre en œuvre des techniques issues de la théorie du Contrôle afin d’assurer la navigabilité du réseau, garantissant le respect des niveaux d’eau pour la navigation. Plus pré

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Schneider, Antoine. "Contribution à l'identification et la commande de systèmes stochastiques discrets par des méthodes hiérarchisées : Application au modèle d'un convertisseur d'acier." Nancy 1, 1987. http://www.theses.fr/1987NAN10248.

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26

"Final report on robust stochastic adaptive control." Massachusetts Institute of Technology, Laboratory for Information and Decision Systems, 1988. http://hdl.handle.net/1721.1/2787.

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prepared by Lena Valavani, Michael Athans ; submitted to Office of Naval Research, Mathematical Sciences Division.<br>Includes bibliographical references.<br>Supported by the Office of Naval Research under contract N00014-82-K-0582 NR606-003 MIT OSP no.92775

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Li, Xiang. "Probabilistic robust control system design by stochastic optimization." 2004. http://etda.libraries.psu.edu/theses/approved/WorldWideIndex/ETD-638/index.html.

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28

Wu, Hsuan-Liang, and 吳泫良. "Robust Switching Fuzzy Control for Nonlinear Time-Varying Stochastic Systems." Thesis, 2007. http://ndltd.ncl.edu.tw/handle/12053113835723264597.

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碩士<br>國立清華大學<br>電機工程學系<br>95<br>In this study, the problem of robust control for nonlinear stochastic systems subject to time-varying parameter is treated by a proposed switching fuzzy stabilization scheme via output feedback. Switching multiple-modeling approach has been used to deal with linear systems with time-varying parameters or structure. Conventionally, Takagi-Sugeno (TS) fuzzy modeling method is usually adopted to approximate the nonlinear time-invariant systems, but not suitable for nonlinear time-varying systems. Combining the switching multiple-modeling approach and TS fuzzy model

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29

Taflanidis, Alexandros Angelos. "Stochastic System Design and Applications to Stochastically Robust Structural Control." Thesis, 2008. https://thesis.library.caltech.edu/4819/1/Thesis_Taflanidis.pdf.

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<p>The knowledge about a planned system in engineering design applications is never complete. Often, a probabilistic quantification of the uncertainty arising from this missing information is warranted in order to efficiently incorporate our partial knowledge about the system and its environment into their respective models. In this framework, the design objective is typically related to the expected value of a system performance measure, such as reliability or expected life-cycle cost. This system design process is called stochastic system design and the associated design optimization problem

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"Robust Stochastic Control and High-Dimensional Statistics with Applications in Finance." 2016. http://repository.lib.cuhk.edu.hk/en/item/cuhk-1292652.

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Chang, Yu-Te, and 昌育德. "Robust Control Design for Nonlinear Stochastic Distributed Parameter Systems: Fuzzy Approach." Thesis, 2010. http://ndltd.ncl.edu.tw/handle/71162235138072661526.

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博士<br>國立清華大學<br>電機工程學系<br>98<br>在本論文中，我們探討非線性隨機分佈參數系統的隨機穩定化問題，和有外部擾動和量測雜訊影響下的非線性隨機分佈參數系統的強健性 $H_\infty$ 穩定化問題。我們更針對外部的擾動和量測雜訊是在空間位置分佈的情況下來探討其穩定化的控制器設計。模糊方法被廣泛的應用於非線性系統的近似。因此，我們利用模糊內插法，提出一個模糊隨機分佈參數系統來近似原本的非線性隨機分佈參數系統。然後使用半離散化的有限差分法，我們發展一個模糊隨機的狀態空間模型，來取代模糊隨機分佈參數系統。模糊隨機的狀態空間模型是被證明可以近似原本的非線性隨機分佈參數系統。因此，基於這個模型，一個強健模糊估測器結合穩定化控制器是被提出來控制非線性隨機分佈參數系統使其穩定。控制器使其系統穩定的條件是被證明只要符合一個矩陣不等式即可被保證。進一步地，強健性 $H_\infty$ 控制設計法則是被提出來消除外部干擾和量測雜訊對系統輸出的影響。因為控制器增益及估測器增益互相偶和的問題，所以設計條件是一個雙線性的矩陣不等式。為了有系統的解決設計的問題，我們簡化BMI的問題成LMI的問題，並使用 LMI 技巧來求解控制器增益和估測器增益。最後，為了呈現設計的性能及方法的實用性，我們給一個神經系統的例子來說明控制器設計的流程，並驗證設計方法的效能。

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Wang, Jung-Sheng, and 王仲盛. "FUZZY-MODEL-BASED ROBUST CONTROL OF STOCHASTIC UNCERTAIN LARGE-SCALE SYSTEMS." Thesis, 2006. http://ndltd.ncl.edu.tw/handle/54213648213477987842.

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碩士<br>大同大學<br>電機工程學系(所)<br>94<br>This thesis deals with the stabilization problem for the fuzzy stochastic uncertain large-scale system in which the system is composed of a number of Takagi-Sugeno fuzzy model subsystems with interconnections. We represent a nonlinear plant with a Takagi-Sugeno fuzzy model that provides an effective method to represent complex nonlinear systems by fuzzy sets and fuzzy reasoning. Based on the Lyapunov stability theorem and the theory of the steady state covariance control, two feasible and effective approaches to the robust control problem of the stochastic unce

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Kim, Dongwook. "Application of stochastic control and robust stability of singularly perturbed unified systems." Thesis, 2006. http://hdl.handle.net/10057/318.

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The unified approach and singular perturbation theories are two of the most highly recognized and rapidly developed areas in the control field recently. In this thesis, a stochastic optimal controller design using state feedback is examined for singularly perturbed unified systems with Gaussian noise. The difference between the costs of full order systems and those of reduced order systems is just on the order of epsilon. The robust of a singularly perturbed unified stochastic system is investigated by exploring stability bounds under system uncertainties. A new unified stochastic bound is imp

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Lin, Ying-Po, and 林英博. "Scheduled Managing Policy for Nonlinear Stochastic Bio-inspired Control Systems via a Robust Impulsive Tracking Control Strategy." Thesis, 2014. http://ndltd.ncl.edu.tw/handle/q3k92z.

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博士<br>國立清華大學<br>電機工程學系<br>102<br>The dynamics of bio-inspired control systems mainly rely on the trophic-like interactions among the controlled objects and their predator-like or prey-like control agents. The amounts of the bio-inspired control agents like pesticide, fertilizer or drugs are difficult to be arbitrarily specified during the whole control process, and may be fewer and fewer because they are absorbed by controlled objects like pest, crop or pathogen, or decay with time. Therefore, for some managing purpose or model reference tracking, a proper scheduled managing policy by impulsiv

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Lin, Xue Lin, and 林學麟. "Robust H infinity Adaptive Fuzzy Tracking Control for MIMO Nonlinear Stochastic Poisson Jump Diffusion Systems." Thesis, 2016. http://ndltd.ncl.edu.tw/handle/rq253d.

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碩士<br>國立清華大學<br>電機工程學系<br>104<br>Recently, stochastic Poisson jump diffusion system has attracted much attention in stochastic control. Poisson jump process has been used to model the random discontinuous jump behavior of the intrinsic discontinuous perturbation in stochastic system. Wiener process also called diffusion process represents the continuous random fluctuation to the system. In this study, an adaptive control is introduced for multi-input multi-output (MIMO) nonlinear stochastic Poisson jump diffusion system with continuous and discontinuous random fluctuations to achieve the con

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Lin, Yann-Horng, and 林彥宏. "Performance Constrained Robust Fuzzy Control for Takagi-Sugeno Fuzzy Model-Based Perturbed Stochastic Nonlinear Systems." Thesis, 2018. http://ndltd.ncl.edu.tw/handle/25xz94.

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碩士<br>國立臺灣海洋大學<br>輪機工程學系<br>106<br>Nowadays, the stability analysis and controller design of stochastic systems have become much more important since the stochastic behaviors are usually exist in practical systems. Because of the reason, a robust fuzzy controller design approach is proposed by covariance control theory, pole placement theory and robust control theory in this thesis. At first, nonlinear systems are expressed as a perturbed Takagi-Sugeno fuzzy model and the so-called parallel distributed compensation method is applied for the fuzzy controller design. Next, considering the stabil

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Wang, Chun-Ping, and 王鈞平. "Stochastic Robust Team Tracking Control of Multi-UAV Networked System under Wiener and Poisson Random Fluctuations." Thesis, 2018. http://ndltd.ncl.edu.tw/handle/d4r8aa.

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Wu, Wen-Ben, and 吳文濱. "Robut multi-objective control for the stochastic large-scale system." Thesis, 2008. http://ndltd.ncl.edu.tw/handle/91507421860365961462.

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博士<br>國防大學中正理工學院<br>國防科學研究所<br>96<br>There are two purposes in this dissertation. The first one is to develop a multi-objectives performance state feedback controller for the stochastic large-scale systems (SLSSs). The addressed multi-objectives consist of (1) external disturbance attenuation constraints on the norm level, (2) individual state variance constraints on the upper bound limitation, and (3) pole-placement constraints on the disk region condition. The sufficient condition for satisfying each control objective, basing on the Lyapunov (-Krasovskii) stability theory, can be derived i

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"Scalable Control Strategies and a Customizable Swarm Robotic Platform for Boundary Coverage and Collective Transport Tasks." Doctoral diss., 2017. http://hdl.handle.net/2286/R.I.44017.

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abstract: Swarms of low-cost, autonomous robots can potentially be used to collectively perform tasks over large domains and long time scales. The design of decentralized, scalable swarm control strategies will enable the development of robotic systems that can execute such tasks with a high degree of parallelism and redundancy, enabling effective operation even in the presence of unknown environmental factors and individual robot failures. Social insect colonies provide a rich source of inspiration for these types of control approaches, since they can perform complex collective tasks under a

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Rens, Gavin B. "A belief-desire-intention architechture with a logic-based planner for agents in stochastic domains." Diss., 2010. http://hdl.handle.net/10500/3517.

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This dissertation investigates high-level decision making for agents that are both goal and utility driven. We develop a partially observable Markov decision process (POMDP) planner which is an extension of an agent programming language called DTGolog, itself an extension of the Golog language. Golog is based on a logic for reasoning about action—the situation calculus. A POMDP planner on its own cannot cope well with dynamically changing environments and complicated goals. This is exactly a strength of the belief-desire-intention (BDI) model: BDI theory has been developed to design agen

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