Titlebook: Analysis and Synthesis of Nonlinear Control Systems; A Convex Optimisatio Miguel Bernal,Antonio Sala,Thierry Marie Guerra Book 2022 The Edi

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Observation and Output Feedback,ects, usually with more involved methodologies, the reader is referred to research reports whenever appropriate. Two real-time applications are presented too: sitting control for people living with spinal cord injury as well as observer-based trajectory tracking for power-assisted wheelchairs.

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Stability Analysis,educing the notion of stability to that of quadratic stability. This reduction encompasses another drawback: it disregards the TS nature of the model by subsuming it into the larger family of . (LPV) systems. For these reasons, we also present results that go beyond the quadratic framework.

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Einsatzbereiche des E-Business,ects, usually with more involved methodologies, the reader is referred to research reports whenever appropriate. Two real-time applications are presented too: sitting control for people living with spinal cord injury as well as observer-based trajectory tracking for power-assisted wheelchairs.

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Introduction, analytical solution can be solved (numerically) via convex optimisation. A reinterpretation of classical linear controller and observer setups (LQR, Kalman Filter, . Riccati equations) was made in terms of LMIs; generalisations to . uncertain linear systems were quickly addressed. Since bounded non

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Modelling via Convex Structures, in which they first appeared; others are generalisations or derivative structures of the original one. Their common characteristic is the presence of convex structures of the state, time, or exogenous parameters. Since this book is focussed on model-based approaches, different methods are presented

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Stability Analysis,ndard or descriptor form; closely related results for . (LFT) models are also visited. We begin by focussing on the application of direct Lyapunov method to derive stability conditions for TS models; if the reader is not familiar with Lyapunov stability, reading Appendix B is strongly advised. In th

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State Feedback, Performance, and Robustness,apter. Similar to stability analysis, Lyapunov’s direct method and convexity are combined to derive sufficient stabilisation conditions. Based on the assumption that both the plant states and the membership functions are available, a variety of controller structures is presented along with quadratic