Claude H. Moog

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In modern control theory, it has been a common practice to use ordinary differential equations to model dynamic systems. However, most of real systems have delays associated -normally introduced by natural response time (of sensors, actuators, etc, . . .) , and transport (of information, mass, etc, . . .) phenomenaand a more accurate model would require the(More)
It is shown that a discrete-time system may be linearizable by exogenous dynamic feedback, even if it cannot be linearized by endogenous feedback. This property is completely unexpected and constitutes a fundamental difference with respect to the continuous-time case. The notion of exogenous linearizing output is introduced. It is shown that existence of an(More)
This paper presents an (infinite dimensional) geometric framework for control system, based on infinite jet bundles, where a system is represented by a single vector field and dynamic equivalence (to be precise : equivalence by endogenous dynamic feedback) is conjugation by diffeomorphisms. These diffeomorphisms are very much related to Lie-Bäcklund(More)
Numerous robotic tasks associated with underactuation have been studied in the literature. For a large number of these in the plane, the mechanical models have a cyclic variable, the cyclic variable is unactuated, and all shape variables are independently actuated. This paper formulates and solves two control problems for this class of models. If the(More)
The notion of realization for single-input single-output nonlinear systems is studied based on a new notion of input/output equivalence. This equivalence relation aims to generalize the equivalence of linear time-invarian t systems in the sense of the equality of their transfer functions. Necessary and suÆcient conditions are given for the existence of a(More)
A new control concept for a class of simple underactuated mechanical system, the so-called Acrobot, is presented here. Despite being seemingly a simple system, the acrobot comprises many important difficulties when controlling the most challenging underactuated system the walking robot. This paper presents the design of the asymptotical tracking of the(More)
In this paper, the disturbance decoupling problem (DDP) for a class of single-input–single-output (SISO) nonlinear systems with multiple delays in the input and the state is studied. A pioneering mathematical approach is introduced for this class of systems and is claimed to be the cornerstone of the problem. Necessary and sufficient conditions are given(More)