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A frequency domain parameterization of static output feedback controllers assigning all n closed loop poles to an nth order system with p inputs and m ≥ p outputs under the condition m+p > n is developed. By introducing the set of n closed loop poles and the set of m-1 pole directions as free design parameters, an explicit parametric expression for the constant output feedback gain Ky is obtained...
The concept of algebraic reachability refers to the property of a system that every state from a sufficiently big subset of a state-space can be reached from a given inital state by applying an admissible input to the system. In this paper we study algebraic reachability of rational systems. We provide necessary and sufficient conditions for a rational system to be algebraically reachable (from an...
A new concept of the perfect singular observer for singular general 2D model is proposed. Necessary and sufficient conditions are established for the existence of the perfect observer for singular general 2D model. A procedure for design of the perfect observer is derived and illustrated by a numerical example.
In this paper two algorithms developed by Koopmans and Levin are discussed in details. One of them eliminates unwanted correlation in the input data by dropping some I/O pairs, while the other has the capability to completely utilize all the available input/output records. As a main result a new estimation algorithm is derived in this paper leading to maximum likelihood estimation and simultaneously...
In this paper we address the problem of transforming a nonlinear system into extended nonlinear observer canonical form(ENOCF) with the aid of an extended state space change of coordinates and redefinition of new outputs. The dynamic extension is achieved by adding some integrators to the outputs of original system. To be precise, auxiliary states and new outputs are chosen as the outputs of each...
Some proofs concerning a subspace identification algorithm are presented. It is proved that the Kalman filter gain and the noise innovations process can be identified directly from known input and output data without explicitly solving the Riccati equation. Furthermore, it is in general and for colored inputs, proved that the subspace identification of the states only is possible if the deterministic...
In this paper wo prosont a now methodology, based on dynamic inversion, for the set-point constrained regulation of a scalar linear system with structured uncertainties. The approach basically relies on the combined design of the controller and of the reference command input. The first is based on LQR methodology whilst the latter is determined by means of a stable dynamic inversion. An illustrative...
In this paper we consider linear structured systems which represent a large class of parameter dependent linear systems. We study the generic dimension of the maximal output-nulling invariant and controllability subspaces of such systems. We give characterizations of these generic dimensions in terms of properties of the directed graphs that can be naturally associated with linear structured systems...
In this talk we solve the problem of the title. Compared to earlier work we give a fast and direct algorithm for the computation of the transfer operators of the discrete Cauchy problem over general submonoids of Zr instead of Nr and also consider the case of convergent solutions. For the latter situation we use ideas of C. Riquier [1910!].
In this paper we present a sufficient condition for global observability of nonlinear systems on manifolds that generalizes Aeyels' global observability result for Morse-Smale systems. Our main theorem establishes global observability under considerably weaker assumptions than Aeyels' Morse-Smale condition. However, we have to assume additionally real analyticity of the system. With this result at...
In this paper, the problem of the determination of the maximal controlled invariant set of linear systems subject to polyhedral input and state constraints, together with the corresponding state-feedback control law is investigated. Instead of computing one-step reachable sets or maximizing the volume of a specific invariant set, the proposed method consists of the iterative expansion of an initial...
In this work, the controller design for a Networked Control System (NCS) with random time delays is considered. Therefore, the NCS is reformulated as Jump Linear System (JLS). Then a standard controller design method, which stabilizes the JLS in the second moment sense, is extended such that all sub-systems/sub-matrices of the JLS have some common eigenmodes. For the NCS with random time delays this...
This work is devoted to stabilization of unstable continuous-time linear systems in the presence of saturating actuators. We show that, if the state matrix has real eigenvalues, it is possible to construct a linear feedback such that the set of values satysfying the saturation constraint is an invariant set for the closed-loop system. Moreover, once the initial datum is arbitrarily fixed, we can ensure...
Perspective dynamical systems arise in machine vision, in which only perspective observation is available, and the essential problem is to estimate the state and /or unknown parameters for a moving rigid body based on the observed information. This paper proposes and studies a Luenberger-type observer for perspective linear systems. In particular, assuming a given perspective linear system to be Lyapunov...
We use the behavioural approach to provide definitions and characterisations of invariant zeros of nD systems. In particular we show that the definitions are equivalent in the 1D case to those in the classical literature. We provide new results on the structural relations of nD invariant and transmission zeros.
Typical digital implementations of feedback controllers periodically measure the state, compute the control law, and update the actuators. Although periodicity simplifies the analysis and implementation, it results in a conservative usage of resources. In this paper we drop the periodicity assumption in favor of self-trigger strategies that decide when to measure the state, execute the controller,...
A parameter estimation algorithm is developed for the identification of an input output quadratic model. The excitation is a zero mean white Gaussian input and the output is corrupted by additive measurement noise. Input output crosscumulants up to fifth order are employed and the identification problem of the unknown model parameters is reduced to the solution of succesive linear systems of equations...
We consider here the problem of finding a controller for a system such that when interconnected to the plant, we get a system which is bisimilar to the desired system. We give necessary and sufficient conditions for the existence of such a controller. The systems we consider are ordinary linear time invariant dynamical systems described by state space equations. We briefly compare our results with...
The problem of observer-based fault diagnosis in certain class of nonlinear dynamic systems is studied. To solve this problem, the following approach is suggested: replacing the initial nonlinear system by certain linear logic-dynamic system, obtaining the bank of linear logic-dynamic observers, and transforming these observes into the nonlinear ones. The procedure of the linear logic-dynamic observers...
This contribution focuses on solving the Almost Disturbance Decoupling Problem (ADDP) via static state feedback and simultaneously placing system poles. It is shown that, when solving ADDP by means of high gain state feedback, in any solution are present some fixed finite poles and infinite poles in the closed loop system, which can not be freely assigned. A class of “optimal” geometric subspaces...
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