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- Fathi H. Ghorbel, Olivier ChÃ©telat, Ruvinda Gunawardana, Roland Longchamp
- IEEE Trans. Contr. Sys. Techn.
- 2000

In this paper we derive a reduced model, that is, a model in terms of independent generalized coordinates, for the equations of motion of closed-chain mechanisms. We highlight the fact that the modelâ€¦ (More)

Abstract: The consistency of identification methods for input-output models of Linear Parameter Varying systems is considered. In order to perform a consistency analysis the applicability ofâ€¦ (More)

- Gorka Galdos, Alireza Karimi, Roland Longchamp
- 2009 European Control Conference (ECC)
- 2009

A recent method for robust fixed-order Hâˆž controller design by convex optimization proposed in [1] is investigated in this paper for the tuning of multivariable controllers. Linear Time-Invariantâ€¦ (More)

- Alireza Karimi, Daniel Garcia, Roland Longchamp
- IEEE Trans. Contr. Sys. Techn.
- 2003

A new method for PID controller tuning based on Bodeâ€™s integrals is proposed. It is shown that the derivatives of amplitude and phase of a plant model with respect to frequency can be approximated byâ€¦ (More)

An iterative controller tuning based on a frequency criterion is proposed. The frequency criterion is defined as the weighted sum of squared errors between the desired and measured gain margin, phaseâ€¦ (More)

- Alireza Karimi, Hamid Khatibi, Roland Longchamp
- 2007 European Control Conference (ECC)
- 2007

Robust control synthesis of linear time-invariant SISO polytopic systems is investigated using the polynomial approach. A convex set of all stabilizing controllers for a polytopic system is givenâ€¦ (More)

- Hamid Khatibi, Alireza Karimi, Roland Longchamp
- IEEE Transactions on Automatic Control
- 2008

Convex parameterization of fixed-order robust stabilizing controllers for systems with polytopic uncertainty is represented as a linear matrix inequality (LMI) using the Kalman-Yakubovich-Popov (KYP)â€¦ (More)

- Mario El-Khoury, Oscar D. Crisalle, Roland Longchamp
- Automatica
- 1993

-A new bounding theorem for the number of extrema that may occur in the step-response of a stable linear system is presented. The derivation of an easily-computed upper bound is given to complementâ€¦ (More)

In this paper stochastic approximation theory is used to produce Iterative Learning Control (ILC) algorithms which are less sensitive to stochastic disturbances, a typical problem for the learningâ€¦ (More)

- Mark Edward John Butcher, Alireza Karimi, Roland Longchamp
- Int. J. Control
- 2008

Iterative Learning Control (ILC) is a technique used to impr ove the tracking performance of systems carrying out repetitive tasks, whic h are affected by deterministic disturbances. The achievableâ€¦ (More)