Learn More
—A version of the input-to-output stability (IOS) small gain theorem is derived for interconnections where the subsystems communicate asynchronously over multiple channels, and the communication is subject to multiple time-varying possibly unbounded communication delays. It is shown that a " multi-dimensional " version of the small gain condition guarantees(More)
The problem of stabilization of a force-reflecting telerobotic system in presence of time delay in the communication channel is addressed. We introduce an approach that is based on application of the input-to-output stability (IOS) small gain theorem for functional differential equations (FDEs). A version of the stabilization algorithm as well as its two(More)
Digital Control is intended to serve as a text for a senior-level course on the analysis and design of digital control systems. There are many books on this subject. Perhaps the principal difference between this and most other books in the area is that Vaccaro has focused on the modem control, or state space approach to control systems design, and has(More)
In this paper, a robust controller design method is first formulated to deal with both performance and robust stability specifications for multivariable processes. The optimum problem is then dealt with using a loop-shaping H ∞ approach, which gives a sub-optimal solution. Then a PID approximation method is proposed to reduce a high-order controller. The(More)
Criteria based on disturbance rejection and system robustness are proposed to assess the performance of PID controllers. A simple robustness measure is defined and the integral gains of the PID controllers are shown to be a good measure for disturbance rejection. An analysis of some well-known PID tuning formulas reveals that the robustness measure should(More)
—In an industrial boiler system, multiloop (decentralized) proportional-integral (PI) control is used because of its implementational advantages. We show that such control schemes sacrifice robustness and performance of the overall system. In particular, under normal boiler operating conditions, we design a robust multivariable controller using loop-shaping(More)
Conditions for nonlocal existence of a continuous storage function for nonlinear dissipative system are presented. More precisely, it is shown that under the local ω-uniform reachability assumption at one point x * the required supply function is continuous on the set of points reachable from x *. Conditions for the local ω-uniform reachability based on the(More)