Approach to design of Nonlinear Robust Control in a Class of Structurally Stable Functions

Structurally Stable Properties of Control Systems

Talk dedicated to the 110th anniversary of L.S.Pontryagin. Steklov Mathematical Institute of Russian Academy of Sciences, Moscow.

An extension of the characterization of the domain of attraction of an asymptotically stable fixed point in the case of a nonlinear discrete dynamical system

The purpose of this paper is to show that if the spectral radius of the matrix of the linearized system of a nonlinear discrete dynamical system is less then one then the characterization theorem from \cite{KBBB1,KBGB2} holds.

未知输入非线性系统的结构基础：UID诱导规范形与最小传感结构运动

Structural Foundations of Nonlinear Systems with Unknown Inputs: The UID-Induced Normal Form and Minimal-Sensing Structure-from-Motion

本文提出UID诱导规范形，统一解决未知输入解耦与重构问题，并实现仅用三点特征和单轴陀螺仪的最小结构运动递归状态估计。

Incremental Learning and State-Space Evolving Fuzzy Control of Nonlinear Time-Varying Systems with Unknown Model

We present a method for incremental modeling and time-varying control of unknown nonlinear systems. The method combines elements of evolving intelligence, granular machine learning, and multi-variable control. We propose a State-Space Fuzzy-set-Based evolving Modeling (SS-FBeM) approach. The resulting fuzzy model is structurally and parametrically developed from a data stream with focus on memory and data coverage. The fuzzy controller also evolves, based on the data instances and fuzzy model parameters. Its local gains are redesigned in real-time -- whenever the corresponding local fuzzy mode…

Saturating PI control of stable nonlinear systems using singular perturbations

This paper presents an anti-windup PI controller, using a saturating integrator, for a single-input single-output stable nonlinear plant, whose steady-state input-output map is increasing. We prove that, under reasonable assumptions, there exists an upper bound on the controller gain such that for any constant reference input, the corresponding equilibrium point of the closed-loop system is exponentially stable, with a "large" region of attraction. When the state of the closed-loop system converges to this equilibrium point, then the tracking error tends to zero. The closed-loop stability anal…

通过凸优化从含噪重复实验中稳定非线性辨识

Stable Nonlinear Identification From Noisy Repeated Experiments via Convex Optimization

提出利用凸优化拟合输入输出数据到稳定非线性动力学模型的方法，通过重复实验消除噪声影响，保证模型稳定性且无需对数据做假设。