Motivated by control Lyapunov functions and Razumikhin theorems on stability of time delay systems, we introduce the concept Lyapunov-Razumikhin (CLRF). The main reason for considering CLRFs is construction robust stabilizing laws systems. Most existing universal formulas that apply to CLFs, are not applicable CLRFs. It turns out domination redesign law applies, achieving global practical and, under an additional assumption, asymptotic stability. This assumption satisfied in practically...

Presents a control design method for diesel engines equipped with variable geometry turbocharger and an exhaust gas recirculation valve. Our objective is to regulate the air-fuel ratio fraction of recirculated their respective set points that depend on engine operating conditions. Interactions between two actuators nonlinear behavior system make problem difficult handle using classical methods. Instead, we employ Lyapunov function (CLF) based because it possesses guaranteed robustness...

We present a global stabilization procedure for nonlinear cascade and feedforward systems which extends the existing results. Our main tool is construction of Lyapunov function class (globally stable) uncontrolled systems. This serves as basis recursive controller design give conditions continuous differentiability resulting control law propose methods their exact approximate computation.

Variable-geometry turbochargers (VGTs) are employed in high-end diesel engines. These VGTs also help controlling the trade-offs emissions performance. Exhaust gas recirculation (EGR) is used to dilute combustion mixture, resulting lower peak temperatures and a oxygen concentration hence NOx emissions. In this article, we compare some of control methodologies previously presented not yet evaluate their benefits experimentally. We do include any new theory. Rather refer other sources for...

We consider the problem of feedback stabilization translational oscillations by a rotational actuator (TORA) system. The main obstacle to controller design is nonlinear coupling from motion through sinusoidal term. present several designs based on cascade and passivity paradigms.

Automotive engines have been increasingly equipped with devices that can vary engine parameters operating conditions. Optimizing these via standard mapping and calibration has become a very time consuming task. The specific problem under consideration in this paper is optimization of intake, exhaust, spark timings to improve the brake fuel consumption dual-independent variable cam timing engine. We explored extremum seeking (ES) as method find optimal setting parameters. During ES, running...

This paper addresses a problem of controlling diesel engines equipped with variable geometry turbocharger and an exhaust gas recirculation valve. The presence two actuators nonlinear behavior the system makes difficult to handle using classical control designs. Instead, we employ recently developed Lyapunov function based design method that guarantees robustness property interpretable as gain phase margins. controller has been tested in simulations experimentally dynamometer test cell.

As a way to meet the challenge of developing more fuel efficient and lower emission producing vehicles, auto manufacturers are increasingly looking toward revolutionary changes conventional powertrain technologies as solution. One alternative under consideration is that hybrid electric vehicles (HEV). An HEV combines some benefits (efficient clean motive power supplied by an motor, regenerative braking) with features vehicle consumers expect (convenient refueling, long driving range)....

<para xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> This paper presents a model-based nonlinear feedback controller designed to regulate the crank angle at 50% fuel burned $(\theta_{CA50})$ for gasoline homogeneous charge compression ignition engine model during load transitions. The regulation of combustion timing is based on manipulating temperature through internal dilution, which achieved by controlling lift secondary opening exhaust valve,...

The backup control barrier function (CBF) was recently proposed as a tractable formulation that guarantees the feasibility of CBF quadratic programming (QP) via an implicitly defined invariant set. set is based on fixed policy and evaluated online by forward integrating dynamics under policy. This paper intended tutorial approach comparative study to some benchmarks. First, presented step with underlying math explained in detail. Second, we prove always has relative degree 1 mild...

The concept of Control Lyapunov Functions (CLF) has been used to design control laws robust disturbances and modeling errors, while Barrier (CBF) have adhere state constraints in the operating space. two can be combined methods that employ Quadratic Programming (QP) recently gained popularity. In this paper we consider a CLF-CBF QP for linear systems with input delay. One obstacle is delays prevent CLF from being extended either Razumikhin or Krasovsky version. Instead, starts V zero-delay...

This paper introduces identifiability problems that arise in linear dynamical systems with perspective observation function. Such a problem finds its application the field of Computer Vision specifically area motion estimation rigid body point, line or curve correspondence. The basic result this is to study correspondence an unifying framework and it shown these as special case more general Perspective System Problem. Problems system theory introduced are new.

This paper presents a recursive control design method for multi-input, block-feedforward linear systems with delays in the input and interconnections between state blocks. The controller is of predictor type, which means that it contains finite integrals over past values. generalization well known model reduction approach delay. A procedure replaces delay terms non-delay ones step-by-step from top cascade structure down. Controller gains are computed proxy system without delays, while...

This paper presents a Lyapunov-based control design method for nonlinear systems with time delay. The key step is construction of composite Lyapunov functional <i xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">V</i> stable cascade. consists functionals the subsystems and cross-term defined by an infinite integral. ldquo xmlns:xlink="http://www.w3.org/1999/xlink">L</i> <sub xmlns:xlink="http://www.w3.org/1999/xlink">g</sub> -typerdquo law then...

Internal model control (IMC) explicitly incorporates the plant and its approximate inverse offers an intuitive controller structure calibration procedure. In presence of plant-model uncertainty, combining IMC with parameter estimation through certainty equivalence principle leads to adaptive (AIMC), where either or is identified. This paper proposes a composite AIMC (CAIMC) that explores simultaneous dynamics identification achieve improved performance AIMC. A toy used illustrate feasibility...

This letter considers the design of controllers that achieve safety for systems with unmodeled dynamics at plant input. Simplified, low-order models are often used in such controllers. Unmodeled (e.g., actuator dynamics, time delays, etc.) can lead to violations. proposes a method presence these dynamics. The approach combines control barrier functions (CBFs) and integral quadratic constraints (IQCs). First, input-output behavior is bounded domain using an <inline-formula...

An adaptive output feedback controller for nonlinear systems with nonlinearities depending on the first r (1/spl les/r/spl les/n) derivatives of is proposed. The are estimated a partial state high-gain observer, and remaining states handled using backstepping method. Compared methods based full this approach improves robustness respect to measurement noise avoids overparametrization. Semiglobal tracking proven under assumption that regressor persistently exciting.

In this paper we present an approach to control elastic modes of the robot joints using only measurements variables on rotor side transmission. First, a simple and robust observer is proposed estimate link positions velocities. The state estimates are used in fast inner loop damp oscillations joints. Simulations have shown good performance closed system presence measurement noise parameter uncertainties.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML"...