Random evolutionary time-scale decomposition in robust control of jump linear systems

Zigang Pan, Tamer Basar

Research output: Chapter in Book/Report/Conference proceedingChapter

Abstract

This paper addresses the issues of model simplification, decomposition, and design of robust reduced-order controllers in the context of piecewise-deterministic systems exhibiting distinguishable slow and fast modes in their form systems. The random jumps from one structure to another at random points in time are governed by a finite state Markov chain, and between two consecutive jumps the system admits a linear structure with open-loop slow and fast modes, where the dynamics are driven by not only a (state-feedback) control but also an unknown disturbance. Optimum slow and composite controllers are derived in the mathematical framework of H control (adapted to such hybrid systems), and their respective performances are evaluated. The theoretical results are then applied to a numerical example involving the robust control of a planar elbow manipulator with remotely driven links.

Original languageEnglish (US)
Title of host publicationProceedings of the IEEE Conference on Decision and Control
Editors Anon
StatePublished - Dec 1 1996
Externally publishedYes
EventProceedings of the 1996 35th IEEE Conference on Decision and Control. Part 3 (of 4) - Kobe, Jpn
Duration: Dec 11 1996Dec 13 1996

Publication series

NameProceedings of the IEEE Conference on Decision and Control
Volume1
ISSN (Print)0191-2216

Other

OtherProceedings of the 1996 35th IEEE Conference on Decision and Control. Part 3 (of 4)
CityKobe, Jpn
Period12/11/9612/13/96

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

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