In this work, the design of a robust controller for an experimental laboratory-scale position control system based on a DC motor drive as well as the corresponding identification and robust stability analysis are ...

In this paper, we present a method to compute a control law for an Autonomous Underwater Vehicle (AUV) subject to external disturbances. The control law’s design objectives are formulated as H∞ objectives used to synthesize ...

The supervisory control problem is analysed as an online robust design problem using switching to select the relevant models for designing the control law. The proposed supervisory control algorithm is based on the integration ...

In this work, multi-input multi-output (MIMO) process identification is studied, where the model identification is dedicated to the control design goal. An ad hoc identification procedure is presented which allows estimating ...

This note presents a robust economic model predictive control controller suitable for changing economic criterion. The proposal ensures feasibility under any change of the economic criterion, thanks to the use of artificial ...

In this paper we consider the postural stability problem for nonlinearly actuated quasi-static biped robots, both with respect to the joint angular positions and also with reference to the gripping effect between the ...

A model predictive controller (MPC) is proposed, which is robustly stable for some classes of model uncertainty and to unknown disturbances. It is considered as the case of open-loop stable systems, where only the inputs ...

A robust linear parameter varying (LPV) identification/invalidation method is presented. Starting from a given initial model, the proposed method modifies it and produces an LPV model consistent with the assumed uncertainty/noise ...

Despite the remarkable theoretical accomplishments and successful applications of adaptive control, this field is not mature enough to solve challenging problems where strict performance and robustness guarantees are ...