Stability radius for structured perturbations and the algebraic Riccati equation
Systems & Control Letters
Robust and optimal control
Stability Radii of Systems with Stochastic Uncertainty and Their Optimization by Output Feedback
SIAM Journal on Control and Optimization
Journal of Optimization Theory and Applications
Methodologies for Control of Jump Time-Delay Systems
Methodologies for Control of Jump Time-Delay Systems
SIAM Journal on Control and Optimization
Fault-tolerant robot manipulators based on output-feedback H∞ controllers
Robotics and Autonomous Systems
Brief paper: Observer-based networked control for continuous-time systems with random sensor delays
Automatica (Journal of IFAC)
Robust Control of Robots: Fault Tolerant Approaches
Robust Control of Robots: Fault Tolerant Approaches
SIAM Journal on Control and Optimization
Time-delay systems: an overview of some recent advances and open problems
Automatica (Journal of IFAC)
Automatica (Journal of IFAC)
Brief Continuous-time state-feedback H2-control of Markovian jump linear systems via convex analysis
Automatica (Journal of IFAC)
Hi-index | 22.14 |
This paper is concerned with the robust analysis and control of continuous-time Markov jump linear systems. The centerpiece of the paper is an alternative to the small-gain theorem, which hinges on the robustification of a certain adjoint Lyapunov operator. By means of this technique, it is proven that the small-gain theorem of Markov jump linear systems may sometimes be arbitrarily conservative, even when nonlinear Lipschitz disturbances are taken into account. The adjoint approach, on the other hand, provides the maximal degree of robustness for this particular setup. In addition, we prove that the adjoint design of controllers is solved more efficiently than the design based on small-gain analysis. Bearing these new facts in mind, we derive an iterative algorithm for the design of robust controllers, based on linear matrix inequalities. By means of numerical examples, regarding the robust control of an underactuated manipulator arm and of a simplified power systems model, it is shown that the adjoint design methodology can be much more advantageous than its small-gain counterpart.