Naim Bajçinca

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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 kP = const. In addition to time-continuous systems, the method(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 Rn×n sharing n− 1 linearly independent common left eigenvectors. The common quadratic Lyapunov function is then used for(More)
Steer-by-wire steering technology replaces the mechanical interface (steering column) between the driver and vehicle by a highly complex mechatronical system, consisting of computing units, sensors and actuators. A steer-by-wire system is basically a master-slave system: the driver come sponds to the operator, the vehicle to the environment, the(More)
Abstract: 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);(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 (kP, kI , kD)-parameter space are introduced. The main impetus is given by the fact that non-convex stable regions(More)
An identification procedure consisting of iterative parameter optimization and model validation tasks using the optimization tool MOPS and Dymola/Modelica simulation environment is presented. This method is used for modelling of a force-feedback electromechanical actuator with Harmonic-Drive gear. A modelling approach for speed and torque dependent gear(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)