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State Estimator
In control theory, a state observer, state estimator, or Luenberger observer is a system that provides an estimate of the internal state of a given real system, from measurements of the input and output of the real system. It is typically computer-implemented, and provides the basis of many practical applications. Knowing the system state is necessary to solve many control theory problems; for example, stabilizing a system using state feedback. In most practical cases, the physical state of the system cannot be determined by direct observation. Instead, indirect effects of the internal state are observed by way of the system outputs. A simple example is that of vehicles in a tunnel: the rates and velocities at which vehicles enter and leave the tunnel can be observed directly, but the exact state inside the tunnel can only be estimated. If a system is observable, it is possible to fully reconstruct the system state from its output measurements using the state observer. Typ ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Control Theory
Control theory is a field of control engineering and applied mathematics that deals with the control system, control of dynamical systems in engineered processes and machines. The objective is to develop a model or algorithm governing the application of system inputs to drive the system to a desired state, while minimizing any ''delay'', ''overshoot'', or ''steady-state error'' and ensuring a level of control Stability theory, stability; often with the aim to achieve a degree of Optimal control, optimality. To do this, a controller with the requisite corrective behavior is required. This controller monitors the controlled process variable (PV), and compares it with the reference or Setpoint (control system), set point (SP). The difference between actual and desired value of the process variable, called the ''error'' signal, or SP-PV error, is applied as feedback to generate a control action to bring the controlled process variable to the same value as the set point. Other aspects ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Feedback Linearization
Feedback linearization is a common strategy employed in nonlinear control to control nonlinear systems. Feedback linearization techniques may be applied to nonlinear control systems of the form where x(t) \in \mathbb^n is the state, u_1(t), \ldots, u_m(t) \in \mathbb are the inputs. The approach involves transforming a nonlinear control system into an equivalent linear control system through a change of variables and a suitable control input. In particular, one seeks a change of coordinates z = \Phi(x) and control input u = a(x) + b(x)\,v, so that the dynamics of x(t) in the coordinates z(t) take the form of a linear, controllable control system, An outer-loop control strategy for the resulting linear control system can then be applied to achieve the control objective. Feedback linearization of SISO systems Here, consider the case of feedback linearization of a single-input single-output (SISO) system. Similar results can be extended to multiple-input multiple-output ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Positive Systems
Positive systemsT. Kaczorek. Positive 1D and 2D Systems. Springer- Verlag, 2002 constitute a class of systems that has the important property that its state variables are never negative, given a positive initial state. These systems appear frequently in practical applications, as these variables represent physical quantities, with positive sign (levels, heights, concentrations, etc.). The fact that a system is positive has important implications in the control system design. For instance, an asymptotically stable positive linear time-invariant system always admits a diagonal quadratic Lyapunov function, which makes these systems more numerical tractable in the context of Lyapunov analysis. It is also important to take this positivity into account for state observer design, as standard observers (for example Luenberger observers) might give illogical negative values. Conditions for positivity A continuous-time linear system \dot = Ax is positive if and only if A is a Metzler ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Signum Function
In mathematics, the sign function or signum function (from '' signum'', Latin for "sign") is a function that has the value , or according to whether the sign of a given real number is positive or negative, or the given number is itself zero. In mathematical notation the sign function is often represented as \sgn x or \sgn (x). Definition The signum function of a real number x is a piecewise function which is defined as follows: \sgn x :=\begin -1 & \text x 0. \end The law of trichotomy states that every real number must be positive, negative or zero. The signum function denotes which unique category a number falls into by mapping it to one of the values , or which can then be used in mathematical expressions or further calculations. For example: \begin \sgn(2) &=& +1\,, \\ \sgn(\pi) &=& +1\,, \\ \sgn(-8) &=& -1\,, \\ \sgn(-\frac) &=& -1\,, \\ \sgn(0) &=& 0\,. \end Basic properties Any real number can be expressed as the product of its absolute value and its sig ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Diagonal Matrix
In linear algebra, a diagonal matrix is a matrix in which the entries outside the main diagonal are all zero; the term usually refers to square matrices. Elements of the main diagonal can either be zero or nonzero. An example of a 2×2 diagonal matrix is \left begin 3 & 0 \\ 0 & 2 \end\right/math>, while an example of a 3×3 diagonal matrix is \left begin 6 & 0 & 0 \\ 0 & 5 & 0 \\ 0 & 0 & 4 \end\right/math>. An identity matrix of any size, or any multiple of it is a diagonal matrix called a ''scalar matrix'', for example, \left begin 0.5 & 0 \\ 0 & 0.5 \end\right/math>. In geometry, a diagonal matrix may be used as a '' scaling matrix'', since matrix multiplication with it results in changing scale (size) and possibly also shape; only a scalar matrix results in uniform change in scale. Definition As stated above, a diagonal matrix is a matrix in which all off-diagonal entries are zero. That is, the matrix with columns and rows is diagonal if \forall i,j \in \, i \ne j \ ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Linearization
In mathematics, linearization (British English: linearisation) is finding the linear approximation to a function at a given point. The linear approximation of a function is the first order Taylor expansion around the point of interest. In the study of dynamical systems, linearization is a method for assessing the local stability of an equilibrium point of a system of nonlinear differential equations or discrete dynamical systems. This method is used in fields such as engineering, physics, economics, and ecology. Linearization of a function Linearizations of a function are lines—usually lines that can be used for purposes of calculation. Linearization is an effective method for approximating the output of a function y = f(x) at any x = a based on the value and slope of the function at x = b, given that f(x) is differentiable on , b/math> (or , a/math>) and that a is close to b. In short, linearization approximates the output of a function near x = a. For example, \sq ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Lie Derivative
In differential geometry, the Lie derivative ( ), named after Sophus Lie by Władysław Ślebodziński, evaluates the change of a tensor field (including scalar functions, vector fields and one-forms), along the flow defined by another vector field. This change is coordinate invariant and therefore the Lie derivative is defined on any differentiable manifold. Functions, tensor fields and forms can be differentiated with respect to a vector field. If ''T'' is a tensor field and ''X'' is a vector field, then the Lie derivative of ''T'' with respect to ''X'' is denoted \mathcal_X T. The differential operator T \mapsto \mathcal_X T is a derivation of the algebra of tensor fields of the underlying manifold. The Lie derivative commutes with contraction and the exterior derivative on differential forms. Although there are many concepts of taking a derivative in differential geometry, they all agree when the expression being differentiated is a function or scalar field. Thus in t ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Sign Function
In mathematics, the sign function or signum function (from '' signum'', Latin for "sign") is a function that has the value , or according to whether the sign of a given real number is positive or negative, or the given number is itself zero. In mathematical notation the sign function is often represented as \sgn x or \sgn (x). Definition The signum function of a real number x is a piecewise function which is defined as follows: \sgn x :=\begin -1 & \text x 0. \end The law of trichotomy states that every real number must be positive, negative or zero. The signum function denotes which unique category a number falls into by mapping it to one of the values , or which can then be used in mathematical expressions or further calculations. For example: \begin \sgn(2) &=& +1\,, \\ \sgn(\pi) &=& +1\,, \\ \sgn(-8) &=& -1\,, \\ \sgn(-\frac) &=& -1\,, \\ \sgn(0) &=& 0\,. \end Basic properties Any real number can be expressed as the product of its absolute value and its sig ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Observable
In physics, an observable is a physical property or physical quantity that can be measured. In classical mechanics, an observable is a real-valued "function" on the set of all possible system states, e.g., position and momentum. In quantum mechanics, an observable is an operator, or gauge, where the property of the quantum state can be determined by some sequence of operations. For example, these operations might involve submitting the system to various electromagnetic fields and eventually reading a value. Physically meaningful observables must also satisfy transformation laws that relate observations performed by different observers in different frames of reference. These transformation laws are automorphisms of the state space, that is bijective transformations that preserve certain mathematical properties of the space in question. Quantum mechanics In quantum mechanics, observables manifest as self-adjoint operators on a separable complex Hilbert space ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Sign Function
In mathematics, the sign function or signum function (from '' signum'', Latin for "sign") is a function that has the value , or according to whether the sign of a given real number is positive or negative, or the given number is itself zero. In mathematical notation the sign function is often represented as \sgn x or \sgn (x). Definition The signum function of a real number x is a piecewise function which is defined as follows: \sgn x :=\begin -1 & \text x 0. \end The law of trichotomy states that every real number must be positive, negative or zero. The signum function denotes which unique category a number falls into by mapping it to one of the values , or which can then be used in mathematical expressions or further calculations. For example: \begin \sgn(2) &=& +1\,, \\ \sgn(\pi) &=& +1\,, \\ \sgn(-8) &=& -1\,, \\ \sgn(-\frac) &=& -1\,, \\ \sgn(0) &=& 0\,. \end Basic properties Any real number can be expressed as the product of its absolute value and its sig ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Hypersurface
In geometry, a hypersurface is a generalization of the concepts of hyperplane, plane curve, and surface. A hypersurface is a manifold or an algebraic variety of dimension , which is embedded in an ambient space of dimension , generally a Euclidean space, an affine space or a projective space. Hypersurfaces share, with surfaces in a three-dimensional space, the property of being defined by a single implicit equation, at least locally (near every point), and sometimes globally. A hypersurface in a (Euclidean, affine, or projective) space of dimension two is a plane curve. In a space of dimension three, it is a surface. For example, the equation :x_1^2+x_2^2+\cdots+x_n^2-1=0 defines an algebraic hypersurface of dimension in the Euclidean space of dimension . This hypersurface is also a smooth manifold, and is called a hypersphere or an -sphere. Smooth hypersurface A hypersurface that is a smooth manifold is called a ''smooth hypersurface''. In , a smooth hypersurface is ori ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Sliding Mode Control
In control systems, sliding mode control (SMC) is a nonlinear control method that alters the dynamic system, dynamics of a nonlinear system by applying a discontinuous control signal (or more rigorously, a set-valued control signal) that forces the system to "slide" along a cross-section of the system's normal behavior. The state space (controls), state-feedback control law is not a continuous function of time. Instead, it can switch from one continuous structure to another based on the current position in the state space. Hence, sliding mode control is a variable structure control method. The multiple control structures are designed so that trajectories always move toward an adjacent region with a different control structure, and so the ultimate trajectory will not exist entirely within one control structure. Instead, it will ''slide'' along the boundaries of the control structures. The motion of the system as it slides along these boundaries is called a ''sliding mode'' and the g ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
