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— This paper introduces a new Matlab Toolbox called RobSin, which for a given plant (multi-)model provides a fast computation of the stabilizing region in the coordinates of PID parameters. The algorithms use the concept of singular frequencies for computation of convex polygonal slices on planes k P = const. In addition to time-continuous systems, the(More)
— We consider robust control of switched linear systems under arbitrary time-dependent switching signals. First, we introduce a common quadratic Lyapunov function for the class of switched linear systems with Hurwitz constituent matrices in R n×n sharing n − 1 linearly independent common left eigenvectors. The common quadratic Lyapunov function is then used(More)
The topic of this paper is distributed state estimation for time-invariant systems with finite input and output spaces. We assume that the system under investigation can be realised by a hybrid I/S/O-machine, where some of the discrete states may also represent failure modes. Our approach is based on previous work, e.g., Moor and Raisch (1999); Moor et al.(More)
— A comprehensive theory for robust PID control in continuous-time and discrete-time domain is reviewed in this paper. For a given finite set of linear time invariant plants, algorithms for fast computation of robustly stabilizing regions in the (k P , k I , k D)-parameter space are introduced. The main impetus is given by the fact that non-convex stable(More)
The task of steering a vehicle is an exercise which is usually considered hierarchically in terms of the two subtasks path planning and path following. With the driver in the loop some essential man dependent tasks such as sensing, information processing, and motor function affect the steering quality. In case of simulations , the same applies(More)
The paper presents control architecture for steer-by-wire (SBW) vehicles based on conventional ones. Estimation techniques linked to state space design enter in the control loop. The active observer (AOB) is extended to under-actuated multiple-input-multiple-output (MIMO) systems. Stochastic strategies are presented. Simulation results for the(More)