{"id":{"repo_id":"uiuc","oai_identifier":"oai:www.ideals.illinois.edu:2142/71971"},"canonical_url":"https://search.dev.ndltd.org/etd/uiuc/oai:www.ideals.illinois.edu:2142/71971","repository":{"repo_id":"uiuc","name":"University of Illinois - Urbana-Champaign","base_url":"https://www.ideals.illinois.edu/oai-pmh"},"display":{"title":"Integral Manifold in System Design With Application to Flexible Link Robot Control","abstract":"The integral manifold concept is used in this thesis for controller design in various problems. A definition and the conditions for the existence of the integral manifold are given. Integral manifolds in linear systems are analyzed with special attention given to how the linear system possesses an input dependent manifold. Flexibility in flexible link robots is shown to be a cause for phase delay, which is reduced by a corrective controller based on the integral manifold concept. For a class of nonlinear systems with nonlinear output, we designed a nonlinear PI controller that achieve asymptotic tracking and disturbance rejection of bounded signals which are not only unknown but also slowly varying. Finally, we showed the existence of a lower order optimal problem which is equivalent to a singularly perturbed optimal problem with initial conditions restricted to a manifold.","abstract_html":"The integral manifold concept is used in this thesis for controller design in various problems. A definition and the conditions for the existence of the integral manifold are given. Integral manifolds in linear systems are analyzed with special attention given to how the linear system possesses an input dependent manifold. Flexibility in flexible link robots is shown to be a cause for phase delay, which is reduced by a corrective controller based on the integral manifold concept. For a class of nonlinear systems with nonlinear output, we designed a nonlinear PI controller that achieve asymptotic tracking and disturbance rejection of bounded signals which are not only unknown but also slowly varying. Finally, we showed the existence of a lower order optimal problem which is equivalent to a singularly perturbed optimal problem with initial conditions restricted to a manifold.","abstract_has_math":false,"creators":["Tseng, Huan-Chi Chris"],"institution":"University of Illinois at Urbana-Champaign","degree_name":"Ph.D.","degree_level":"Dissertation","degree_discipline":"Electrical Engineering","degree_department":null,"school":null,"contributors":[],"advisors":[],"committee_chairs":[],"committee_members":[],"year":2014,"date_issued":"2014-12-16T22:22:53Z","date_published":"2014-12-16T22:22:53Z","updated_at":"2026-07-22T22:26:05Z","subjects":["Engineering, Electronics and Electrical","Engineering, System Science"],"languages":[],"rights":[],"rights_urls":[],"identifier_entries":[{"key":"dc:identifier","label":"Identifier","values":["(UMI)AAI8908871"],"render_values":[{"text":"(UMI)AAI8908871","href":null,"code":true}]}]},"links":{"outbound_url":"http://hdl.handle.net/2142/71971","outbound_label":"Handle","outbound_source":"dc:identifier"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:creator","label":"Author","values":["Tseng, Huan-Chi Chris"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date","label":"Dc Date","values":["2014-12-16T22:22:53Z","10000-01-01","1988"]},{"key":"dc:type","label":"Dc Type","values":["text"]},{"key":"thesis:degree_discipline","label":"Discipline","values":["Electrical Engineering"]},{"key":"thesis:degree_level","label":"Degree Level","values":["Dissertation"]},{"key":"thesis:degree_name","label":"Degree Name","values":["Ph.D."]},{"key":"thesis:institution_name","label":"Thesis Institution Name","values":["University of Illinois at Urbana-Champaign"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["Engineering, Electronics and Electrical","Engineering, System Science"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier","label":"Identifier","values":["http://hdl.handle.net/2142/71971","(UMI)AAI8908871"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description","label":"Description","values":["The integral manifold concept is used in this thesis for controller design in various problems. A definition and the conditions for the existence of the integral manifold are given. Integral manifolds in linear systems are analyzed with special attention given to how the linear system possesses an input dependent manifold. Flexibility in flexible link robots is shown to be a cause for phase delay, which is reduced by a corrective controller based on the integral manifold concept. For a class of nonlinear systems with nonlinear output, we designed a nonlinear PI controller that achieve asymptotic tracking and disturbance rejection of bounded signals which are not only unknown but also slowly varying. Finally, we showed the existence of a lower order optimal problem which is equivalent to a singularly perturbed optimal problem with initial conditions restricted to a manifold.","Throughout this thesis, results obtained from the manifold approach are shown to be consistent with, and sometimes even extend, some established results in singularly perturbed systems.","Made available in DSpace on 2014-12-16T22:22:53Z (GMT). No. of bitstreams: 1 8908871.pdf: 3629651 bytes, checksum: 72f5944bdb415ca931f57cc9ab492ad4 (MD5) Previous issue date: 1988","Embargo set by: Seth Robbins for item 72137 Lift date: Forever Reason: Restricted to the U of I community idenfinitely during batch ingest of legacy ETDs","Restricted to the U of I community idenfinitely during batch ingest of legacy ETDs","U of I Only","142 p.","Thesis (Ph.D.)--University of Illinois at Urbana-Champaign, 1988."]},{"key":"dc:title","label":"Title","values":["Integral Manifold in System Design With Application to Flexible Link Robot Control"]}]}],"canonical_facts":{"dc:creator":["Tseng, Huan-Chi Chris"],"dc:date":["2014-12-16T22:22:53Z","10000-01-01","1988"],"dc:description":["The integral manifold concept is used in this thesis for controller design in various problems. A definition and the conditions for the existence of the integral manifold are given. Integral manifolds in linear systems are analyzed with special attention given to how the linear system possesses an input dependent manifold. Flexibility in flexible link robots is shown to be a cause for phase delay, which is reduced by a corrective controller based on the integral manifold concept. For a class of nonlinear systems with nonlinear output, we designed a nonlinear PI controller that achieve asymptotic tracking and disturbance rejection of bounded signals which are not only unknown but also slowly varying. Finally, we showed the existence of a lower order optimal problem which is equivalent to a singularly perturbed optimal problem with initial conditions restricted to a manifold.","Throughout this thesis, results obtained from the manifold approach are shown to be consistent with, and sometimes even extend, some established results in singularly perturbed systems.","Made available in DSpace on 2014-12-16T22:22:53Z (GMT). No. of bitstreams: 1 8908871.pdf: 3629651 bytes, checksum: 72f5944bdb415ca931f57cc9ab492ad4 (MD5) Previous issue date: 1988","Embargo set by: Seth Robbins for item 72137 Lift date: Forever Reason: Restricted to the U of I community idenfinitely during batch ingest of legacy ETDs","Restricted to the U of I community idenfinitely during batch ingest of legacy ETDs","U of I Only","142 p.","Thesis (Ph.D.)--University of Illinois at Urbana-Champaign, 1988."],"dc:identifier":["http://hdl.handle.net/2142/71971","(UMI)AAI8908871"],"dc:subject":["Engineering, Electronics and Electrical","Engineering, System Science"],"dc:title":["Integral Manifold in System Design With Application to Flexible Link Robot Control"],"dc:type":["text"],"thesis:degree_discipline":["Electrical Engineering"],"thesis:degree_level":["Dissertation"],"thesis:degree_name":["Ph.D."],"thesis:institution_name":["University of Illinois at Urbana-Champaign"]},"updated_at":"2026-07-22T22:26:05Z"}