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Backstepping
In control theory, backstepping is a technique developed circa 1990 by Petar V. Kokotovic and others for designing stabilizing controls for a special class of nonlinear dynamical systems. These systems are built from subsystems that radiate out from an irreducible subsystem that can be stabilized using some other method. Because of this recursive structure, the designer can start the design process at the known-stable system and "back out" new controllers that progressively stabilize each outer subsystem. The process terminates when the final external control is reached. Hence, this process is known as ''backstepping.'' Backstepping approach The backstepping approach provides a recursive method for stabilizing the origin of a system in strict-feedback form. That is, consider a system of the form :\begin\begin \dot &= f_x(\mathbf) + g_x(\mathbf) z_1\\ \dot_1 &= f_1(\mathbf,z_1) + g_1(\mathbf,z_1) z_2\\ \dot_2 &= f_2(\mathbf,z_1,z_2) + g_2(\mathbf,z_1,z_2) z_3\\ \vdots\\ \dot_i ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Strict-feedback Form
In control theory, dynamical systems are in strict-feedback form when they can be expressed as :\begin \dot = f_0(\mathbf) + g_0(\mathbf) z_1\\ \dot_1 = f_1(\mathbf,z_1) + g_1(\mathbf,z_1) z_2\\ \dot_2 = f_2(\mathbf,z_1,z_2) + g_2(\mathbf,z_1,z_2) z_3\\ \vdots\\ \dot_i = f_i(\mathbf,z_1, z_2, \ldots, z_, z_i) + g_i(\mathbf,z_1, z_2, \ldots, z_, z_i) z_ \quad \text 1 \leq i < k-1\\ \vdots\\ \dot_ = f_(\mathbf,z_1, z_2, \ldots, z_) + g_(\mathbf,z_1, z_2, \ldots, z_) z_k\\ \dot_k = f_k(\mathbf,z_1, z_2, \ldots, z_, z_k) + g_k(\mathbf,z_1, z_2, \dots, z_, z_k) u\end where * with , * are scalars, * is a scalar input to the system, * |
Strict-feedback Form
In control theory, dynamical systems are in strict-feedback form when they can be expressed as :\begin \dot = f_0(\mathbf) + g_0(\mathbf) z_1\\ \dot_1 = f_1(\mathbf,z_1) + g_1(\mathbf,z_1) z_2\\ \dot_2 = f_2(\mathbf,z_1,z_2) + g_2(\mathbf,z_1,z_2) z_3\\ \vdots\\ \dot_i = f_i(\mathbf,z_1, z_2, \ldots, z_, z_i) + g_i(\mathbf,z_1, z_2, \ldots, z_, z_i) z_ \quad \text 1 \leq i < k-1\\ \vdots\\ \dot_ = f_(\mathbf,z_1, z_2, \ldots, z_) + g_(\mathbf,z_1, z_2, \ldots, z_) z_k\\ \dot_k = f_k(\mathbf,z_1, z_2, \ldots, z_, z_k) + g_k(\mathbf,z_1, z_2, \dots, z_, z_k) u\end where * with , * are scalars, * is a scalar input to the system, * |
Control Theory
Control theory is a field of mathematics that deals with the 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; often with the aim to achieve a degree of 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 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 which are also studied are controllability and observability. Control theory is used in control system eng ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Cascade Connection
A two-port network (a kind of four-terminal network or quadripole) is an electrical network ( circuit) or device with two ''pairs'' of terminals to connect to external circuits. Two terminals constitute a port if the currents applied to them satisfy the essential requirement known as the port condition: the electric current entering one terminal must equal the current emerging from the other terminal on the same port.Gray, §3.2, p. 172Jaeger, §10.5 §13.5 §13.8 The ports constitute interfaces where the network connects to other networks, the points where signals are applied or outputs are taken. In a two-port network, often port 1 is considered the input port and port 2 is considered the output port. It's used in mathematical circuit analysis. Application The two-port network model is used in mathematical circuit analysis techniques to isolate portions of larger circuits. A two-port network is regarded as a "black box" with its properties specified by a matrix of num ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Robust Control
In control theory, robust control is an approach to controller design that explicitly deals with uncertainty. Robust control methods are designed to function properly provided that uncertain parameters or disturbances are found within some (typically compact) set. Robust methods aim to achieve robust performance and/or stability in the presence of bounded modelling errors. The early methods of Bode and others were fairly robust; the state-space methods invented in the 1960s and 1970s were sometimes found to lack robustness, prompting research to improve them. This was the start of the theory of robust control, which took shape in the 1980s and 1990s and is still active today. In contrast with an adaptive control policy, a robust control policy is static, rather than adapting to measurements of variations, the controller is designed to work assuming that certain variables will be unknown but bounded. (Section 1.5) In German; an English version is also available Criteria for robustn ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Nonlinear Control
Nonlinear control theory is the area of control theory which deals with systems that are nonlinear, time-variant, or both. Control theory is an interdisciplinary branch of engineering and mathematics that is concerned with the behavior of dynamical systems with inputs, and how to modify the output by changes in the input using feedback, feedforward, or signal filtering. The system to be controlled is called the "plant". One way to make the output of a system follow a desired reference signal is to compare the output of the plant to the desired output, and provide feedback to the plant to modify the output to bring it closer to the desired output. Control theory is divided into two branches. Linear control theory applies to systems made of devices which obey the superposition principle. They are governed by linear differential equations. A major subclass is systems which in addition have parameters which do not change with time, called ''linear time invariant'' (LTI ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Adaptive Control
Adaptive control is the control method used by a controller which must adapt to a controlled system with parameters which vary, or are initially uncertain. For example, as an aircraft flies, its mass will slowly decrease as a result of fuel consumption; a control law is needed that adapts itself to such changing conditions. Adaptive control is different from robust control in that it does not need ''a priori'' information about the bounds on these uncertain or time-varying parameters; robust control guarantees that if the changes are within given bounds the control law need not be changed, while adaptive control is concerned with control law changing itself. Parameter estimation The foundation of adaptive control is parameter estimation, which is a branch of system identification. Common methods of estimation include recursive least squares and gradient descent. Both of these methods provide update laws that are used to modify estimates in real-time (i.e., as the system operates). L ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Mathematical Induction
Mathematical induction is a method for proving that a statement ''P''(''n'') is true for every natural number ''n'', that is, that the infinitely many cases ''P''(0), ''P''(1), ''P''(2), ''P''(3), ... all hold. Informal metaphors help to explain this technique, such as falling dominoes or climbing a ladder: A proof by induction consists of two cases. The first, the base case, proves the statement for ''n'' = 0 without assuming any knowledge of other cases. The second case, the induction step, proves that ''if'' the statement holds for any given case ''n'' = ''k'', ''then'' it must also hold for the next case ''n'' = ''k'' + 1. These two steps establish that the statement holds for every natural number ''n''. The base case does not necessarily begin with ''n'' = 0, but often with ''n'' = 1, and possibly with any fixed natural number ''n'' = ''N'', establishing the truth of the statement for all natu ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Positive-definite Function
In mathematics, a positive-definite function is, depending on the context, either of two types of function. Most common usage A ''positive-definite function'' of a real variable ''x'' is a complex-valued function f: \mathbb \to \mathbb such that for any real numbers ''x''1, …, ''x''''n'' the ''n'' × ''n'' matrix : A = \left(a_\right)_^n~, \quad a_ = f(x_i - x_j) is positive ''semi-''definite (which requires ''A'' to be Hermitian; therefore ''f''(−''x'') is the complex conjugate of ''f''(''x'')). In particular, it is necessary (but not sufficient) that : f(0) \geq 0~, \quad , f(x), \leq f(0) (these inequalities follow from the condition for ''n'' = 1, 2.) A function is ''negative semi-definite'' if the inequality is reversed. A function is ''definite'' if the weak inequality is replaced with a strong ( 0). Examples If (X, \langle \cdot, \cdot \rangle) is a real inner product space, then g_y \colon X \to \mathbb, x \mapsto \exp(i \langle y, x \rangle ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Stationary Point
In mathematics, particularly in calculus, a stationary point of a differentiable function of one variable is a point on the graph of the function where the function's derivative is zero. Informally, it is a point where the function "stops" increasing or decreasing (hence the name). For a differentiable function of several real variables, a stationary point is a point on the surface of the graph where all its partial derivatives are zero (equivalently, the gradient is zero). Stationary points are easy to visualize on the graph of a function of one variable: they correspond to the points on the graph where the tangent is horizontal (i.e., parallel to the -axis). For a function of two variables, they correspond to the points on the graph where the tangent plane is parallel to the plane. Turning points A turning point is a point at which the derivative changes sign. A turning point may be either a relative maximum or a relative minimum (also known as local minimum and maximum). ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Integral
In mathematics Mathematics is an area of knowledge that includes the topics of numbers, formulas and related structures, shapes and the spaces in which they are contained, and quantities and their changes. These topics are represented in modern mathematics ..., an integral assigns numbers to functions in a way that describes Displacement (geometry), displacement, area, volume, and other concepts that arise by combining infinitesimal data. The process of finding integrals is called integration. Along with Derivative, differentiation, integration is a fundamental, essential operation of calculus,Integral calculus is a very well established mathematical discipline for which there are many sources. See and , for example. and serves as a tool to solve problems in mathematics and physics involving the area of an arbitrary shape, the length of a curve, and the volume of a solid, among others. The integrals enumerated here are those termed definite integrals, which can be int ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Integrator
An integrator in measurement and control applications is an element whose output signal is the time integral of its input signal. It accumulates the input quantity over a defined time to produce a representative output. Integration is an important part of many engineering and scientific applications. Mechanical integrators are the oldest application, and are still used in such as metering of water flow or electric power. Electronic analogue integrators are the basis of analog computers and charge amplifiers. Integration is also performed by digital computing algorithms. In signal processing circuits :''See also Integrator at op amp applications'' An electronic integrator is a form of first-order low-pass filter, which can be performed in the continuous-time (analog) domain or approximated (simulated) in the discrete-time (digital) domain. An integrator will have a low pass filtering effect but when given an offset it will accumulate a value building it until it reaches a limit ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
