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The celebrated Kalman-Yakubovic/spl caron/-Popov (KYP) lemma establishes the equivalence between a frequency domain inequality (FDI) and a linear matrix inequality, and has played one of the most… Continue Reading
This paper presents all controllers for the general H∞ control problem (with no assumptions on the plant matrices). Necessary and sufficient conditions for the existence of an H∞ controller of any… Continue Reading
This paper considers a class of linear systems containing time-varying parameters whose behavior is not known exactly. We assume that the parameters vary within known intervals and there are known… Continue Reading
Many mobile robots used for ground operations are wheel driven, but serpentine robots offer many advantages over the wheeled variety. The article outlines what those advantages are.
The contribution of this paper is twofold. First we give a generalization of the S-procedure which has been proven useful for robustness analysis of control systems. We then apply the generalized… Continue Reading
Nonminimum phase zeros are well known to limit the best achievable control performance when the control gain is allowed to be arbitrarily high. On the other hand, the phase crossover appears to be a… Continue Reading
This paper considers a robust control synthesis problem for uncertain linear systems to meet design specifications given in terms of multiple frequency domain inequalities in (semi)finite ranges. We… Continue Reading
Abstract Rice bran hemicellulose was fractionated by ammonium sulphate precipitation, ion-exchange chromatography and enzymatic techniques. Methylation analysis of each fraction revealed that the… Continue Reading
Swimming of fish and other animals results from interactions of rhythmic body movements with the surrounding fluid. This paper develops a model for the body-fluid interaction in undulatory swimming… Continue Reading
The central pattern generator (CPG) is a nonlinear oscillator formed by a group of neurons, providing a fundamental control mechanism underlying rhythmic movements in animal locomotion. We consider a… Continue Reading