Optimal feedback solutions to the innnite horizon LQR problem with state and input constraints based on receding horizon real-time quadratic programming are well known. In this paper we develop an explicit solution to the same problem, eliminating the need for real-time optimization. A suboptimal strategy, based on a suboptimal choice of a nite horizon and… (More)
A wheel slip controller for Anti-lock Brake Systems (ABS) is designed using LQ-optimal control. The controller gain matrices are gain scheduled on the vehicle speed. A parameter dependent Lyapunov function for the nominal linear parameter varying (LPV) closed loop system is found by solving a linear matrix inequality (LMI) problem. This Lyapunov function is… (More)
A wheel slip controller is developed and experimentally tested in a car equipped with electromechanical brake actuators and a brake-by-wire ABS system. A gain scheduling approach is taken, where the vehicle speed is viewed as a slowly time-varying parameter and the model is linearized about the nominal wheel slip. Gain matrices for the different operating… (More)
The object of the study was to develop a method for automatic evaluation of the vigilance level using the EEG frequency pattern. Forty-one EEG records were selected as training material, being considered representative of either a fully alert EEG, or sleep stage I. In the same epochs, 22 different variables based on EEG spectral analysis were calculated.… (More)
The application of gain-scheduled control to a pilot-scale solar power plant is described. A eld of parabolic collectors focus the solar radiation onto a tube where oil is pumped through in order to collect the solar power. The control problem is to keep the temperature of the oil leaving the eld at its desired value by manipulating the oil pump ow rate. It… (More)
A wheel slip controller for ABS brakes is formulated using an explicit constrained LQR design. The controller gain matrices are designed and scheduled on the vehicle speed based on local linearizations. A Lyapunov function for the nonlinear control system is dervied using the Riccati equation solution in order to prove stability and robustness with respect… (More)
The ABS control problem is described, with a discussion on relevant h ybrid control aspects. Next, we comment o n conventional ABS design methods and present some new ideas and results on model-based ABS control design that relies on elements of hybrid control.