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linear-matrix-inequality-approach
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Stabilization of fractional order systems using a finite number of state feedback laws
, Article Nonlinear Dynamics ; Volume 66, Issue 1-2 , 2011 , Pages 141-152 ; 0924090X (ISSN) ; Sedigh, A. K ; Haeri, M ; Sharif University of Technology
Abstract
In this paper, the stabilization of linear time-invariant systems with fractional derivatives using a limited number of available state feedback gains, none of which is individually capable of system stabilization, is studied. In order to solve this problem in fractional order systems, the linear matrix inequality (LMI) approach has been used for fractional order systems. A shadow integer order system for each fractional order system is defined, which has a behavior similar to the fractional order system only from the stabilization point of view. This facilitates the use of Lyapunov function and convex analysis in systems with fractional order 1
Model predictive control of non-linear discrete time systems: A linear matrix inequality approach
, Article IET Control Theory and Applications ; Volume 4, Issue 10 , October , 2010 , Pages 1922-1932 ; 17518644 (ISSN) ; Taghirad, H. D ; Haeri, M ; Sharif University of Technology
2010
Abstract
Using a non-linear model in model predictive control (MPC) changes the control problem from a convex quadratic programme to a non-convex non-linear problem, which is much more challenging to solve. In this study, we introduce an MPC algorithm for non-linear discrete-time systems. The systems are composed of a linear constant part perturbed by an additive state-dependent non-linear term. The control objective is to design a state-feedback control law that minimises an infinite horizon cost function within the framework of linear matrix inequalities. In particular, it is shown that the solution of the optimisation problem can stabilise the non-linear plants. Three extensions, namely,...
Motion tracking in robotic manipulators in presence of delay in measurements
, Article Proceedings - IEEE International Conference on Robotics and Automation, 3 May 2010 through 7 May 2010, Anchorage, AK ; 2010 , Pages 3884-3889 ; 10504729 (ISSN) ; 9781424450381 (ISBN) ; Namvar, M ; Sharif University of Technology
2010
Abstract
Time-delay in sensor measurements can be a frequent cause of instability and performance degradation in a robotic system. In this paper, motion tracking of rigid manipulators in presence of constant and known delay in sensors is investigated. By using non-minimal model of a manipulator, a dynamically smooth controller based on the Linear Matrix Inequality (LMI) approach is proposed which guarantees asymptotic tracking of desired joint angles and velocities in presence of delayed measurements. For a given controller the maximum amount of delay that preserves system stability is computed by solving an LMI optimization and also by numerical simulations, and the results are compared. Finally, a...
Robust controller design for governing steam turbine power generators
, Article Proceedings - The 12th International Conference on Electrical Machines and Systems, ICEMS 2009, 15 November 2009 through 18 November 2009, Tokyo ; 2009 ; 9784886860675 (ISBN) ; Tahami, F ; Sharif University of Technology
Abstract
The turbine control system is one of the key control loops in the dynamic performance of steam power generation units. In this paper a multivariable PID controller is designed for the governing system of steam turbine power generators. The necessary and sufficient conditions for existence of a strong robust H ∞ dynamic compensator are established in terms of linear matrix inequality (LMI) approach. This controller is designed in succeeding to the existing proportional controller in a power plant. To reach to this goal, the complete dynamic model of an actual turbine-generator including the governor, turbine and generator, are derived. Simulation results show that proposed controller has good...