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A systematic control design methodology is introduced for multi-input/multi-output stable open loop plants with multiple saturations. This new methodology is a substantial improvement over previous heuristic single-input/single-output approaches. The idea is to introduce a supervisor loop so that when the references and/or disturbances are sufficiently(More)
This paper examines the robustness properties of existing adaptive control algorithms to unmodeled plant high-frequency dynamics and unmeasurable output disturbances. It is demonstrated that there exist two infinite-gain operators in the nonlinear dynamic system which determines the time-evolution of output and parameter errors. The pragmatic implication of(More)
The field of control provides the principles and methods used to design physical and information systems that maintain desirable performance by sensing and automatically adapting to changes in the environment. Over the last forty years the field has seen huge advances, leveraging technology improvements in sensing and computation with breakthroughs in the(More)
1. INTRODUCTION This paper reports the outcome of an exhaustive analyt-Due to space limitations we cannot possibly provide in ical and numerical investigation of stability and ro-this paper analytical and simulation evidence of all bustness properties of a wide class of adaptive control conclusions outlined in the abstract. Rather, we algorithms in the(More)
— The paper considers one of the fundamental issues in design and analysis of sampled multidimensional systems-that of uncertainty modeling and robust stability analysis. Methods of structured uncertainty analysis (µ-analysis) are extended towards systems with dynamical and non-causal spatial coordinates. The stability is understood in a broad sense and(More)
A robust gain scheduled controller combined with a parameter estimator produces a robust adaptive controller for a broad class of deterministic but uncertain systems, provided the estimator is efficient in a new, deterministic sense. Abstract-Sufficient conditions are given under which an adaptive control system is robustly stable and achieves a guaranteed(More)
We describe a new method for tuning a certain family of low-bandwidth controllers for linear time-invariant and spatially-invariant (LTSI) plants. We consider LTSI controllers with a fixed structure, which is PID in time and local in spatial coordinates. Two spatial feedback filters, assumed to be symmetric and have finite spatial response, modify the local(More)