Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 20 of 60 for “"Feedback Controllers"”.
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DESIGN OF MULTIVARIABLE FEEDBACK CONTROLLERS: ITALIC-L(1)-OPTIMAL SYSTEMS
… linear time-invariant plant, we want to design a feedback controller in such a way that the closed loop system is internally stable and the output tracks an arbitrary set of bounded and persistent inputs for all time. This problem is equivalent to finding the feedback controller that minimizes the …
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On the synthesis of switched output feedback controllers for linear, time-invariant systems
… one typical method of designing switching controllers for linear, time-invariant (LTI) systems is to first design a set of stabilizing LTI controllers using standard LTI methods, and then design a switching law to increase performance. While such design algorithms can lead to increases in …
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Performance of PV Generation Feedback Controllers: Power Factor versus Volt-VAR Control Strategies
… fluctuations in power distribution systems. Feedback control can be used to minimize the voltage fluctuations. This thesis presents the results obtained from comparing the control performance of two types of PV generation feedback control, namely Volt-VAR control and constant power factor …
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Stabilization And Tracking Of The Van Der Pol Oscillator
… control techniques. First, the linear state feedback and linear adaptive state feedback controllers for the stabilization problem are designed. Then, non-linear state feedback and output feedback controllers are proposed for the tracking problem with known parameters. Finally, a dynamic …
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Development of an Omni-directional Gait Generator and a Stabilization Feedback Controller for Humanoid Robots
… engine that achieves stable walking using feedback from an inertial measurement unit. Our walking engine generates gaits for which the zero moment point is on the center of the supporting foot. The mechanical structure of CHARLI-L, a humanoid robot used as our test platform in this thesis, …
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Control of Burgers' Equation With Mixed Boundary Conditions
… numbers. These schemes are used to compute LQR feedback controllers for Burgers' equation with boundary control. Numerical studies of these feedback control laws are used to evaluate the performance and practicality of this approach to boundary control of non-linear systems.
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On Observer-Based Control of Nonlinear Systems
… and are used in numerous applications. The feedback principle is an important concept in control theory. Many different control strategies are based on the assumption that all internal states of the control object are available for feedback. In most cases, however, only a few of the states …
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Dynamic operability assessment : a mathematical programming approach based on Q-parametrization
… on the Q-parametrization of stabilizing linear feedback controllers and involves posing dynamic operability assessment as a mathematical programming problet? In the proposed formulation, a convex objective function, reflecting a measure of closed-loop performance, is optimized over all stable Q, …
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Evacuation Distributed Feedback Control and Abstraction
In this dissertation, we develop feedback control strategies that can be used for evacuating people. Pedestrian models are based on macroscopic or microscopic behavior. We use the macroscopic modeling approach, where pedestrians are treated in an aggregate way and detailed interactions are …
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A Mechanistic Force Model and Stability Analysis for Contour Turning
… variations. A mechanistic model based force-feedback scheme for disturbance rejection and tracking control in radial contour turning is proposed. The stability issues for the force-feedback design are addressed and the relative tracking performance of acceleration and force feedback …
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Neural network identification of quarter-car passive and active suspension systems
… on a quarter-car model with both full-state feedback and incomplete state feedback controllers to optimize the passenger ride comfort, road handling and car controlling. Linear stochastic optimal control will be employed to design an active controller in vehicle active suspension model. The …
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Two-Step System Identification and Primitive-Based Motion Planning for Control of Small Unmanned Aerial Vehicles
… addresses motion planning, modeling, and feedback control for autonomous vehicle systems. A hierarchical approach for motion planning and control of nonlinear systems operating in obstacle environments is presented. To reduce computation time during the motion planning process, dynamically …
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Modeling and Slew-Maneuver Control of a Flexible Spacecraft
… system parameters. Lyapunov-based nonlinear feedback controllers are designed for the control of rigid-body motion while suppressing the lowest frequency vibrational mode. In case of large-angle maneuvers, these nonlinear controllers are shown to outperform the linearization-based controllers …
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Time optimal control for asymptotic tracking of linear systems with input saturation
… input saturation, and design composite nonlinear feedback controllers. We have explored the problem of asymptotic time optimal tracking for a class of linear system with actuator nonlinearities. A formula on the optimal settling time is given and the corresponding composite nonlinear feedback …
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Dynamic compensators for a nonlinear conservation law
… schemes are used to design suboptimal active feedback controllers. This approach provides important practical information. In particular, we show how functional gains can be used to locate new sensors. Numerical results are given to illustrate the basic ideas and to compare the various …
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Feedback Stabilization of Inverted Pendulum Models
… stabilizability, through both static and dynamic feedback controllers, of mechanical systems
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Semidefinite programming approaches to multi-contact feedback control
We consider the feedback design for stabilizing a rigid body system by making and breaking multiple contacts with the environment without prespecifying the timing or the number of occurrence of the contacts. We examine several different models of such systems and the roles of semidefinite …
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Feedback Control and Nonlinear Controllability of Nonholonomic Systems
… 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. …
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Active suspension co-design for lateral stability of rail vehicles
… designed first, followed by the addition of controllers for system performance improvements. New integrated design strategies are required to realize the full potential of such advanced complex dynamic systems and to capitalize on design coupling. This thesis aims to explore and apply a …
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