On Sampled Data Regulation of Feedback Linearizable Systems using a Realizable Reconstruction Filter

다국어 초록 (Multilingual Abstract)

This paper deals with the classical problem of regulating a feedback linearizable system when only the samples of the output are available for measurement. The feedback linearization is done via an impulsive observer. The realizable reconstruction filter, which is a minimum order generalized hold device, connects the discrete controller with the continuous input of the system. The rest of the problem is similar to the classical regulator theory. An example of single link manipulator with flexible joints concludes the paper.

참고문헌 (Reference)

1 M. Dlala, "Uniform exponential stability of impulsive perturbed systems" 13 (13): 373-386, 2007

2 D. Nesic, "Sufficient conditions for stabilization of sampled-data nonlinear systems via discrete-time approximation" 38 (38): 259-270, 1999

3 M. B. Malik, "State-space recursive least-squares : part I" 84 (84): 1709-1728, 2004

4 M. B. Malik, "State-space Recursive Least Squares" National University of Sciences and Technology 2004

5 E. A. Medina, "State estimation of linear impulsive systems" 1183-1188, 2009

6 D. Nesic, "Stabilization of sampleddata nonlinear systems via backstepping on their Euler approximate model" 42 (42): 1801-1808, 2006

7 Q. Liu, "Stability analysis for sampled-data systems based on multiple Lyapunov method" 8 (8): 6345-6355, 2012

8 M. Liaquat, "Sampled-data output regulation of n-Link robotic manipulator using a realizable reconstruction filter" 2013

9 M. Liaquat, "Sampled-data based Regulation based on Realizable Reconstruction Filter" National University of Sciences and Technology 2013

10 Jian Zhang, "Sampled-data Output Feedback Control of a Class of Uncertain Nonlinear Systems" 제어·로봇·시스템학회 11 (11): 175-181, 2013

11 김도완, "Robust Sampled-Data Fuzzy Control of Nonlinear Systems with Parametric Uncertainties: Its Application to Depth Control of Autonomous Underwater Vehicles" 제어·로봇·시스템학회 10 (10): 1164-1172, 2012

12 D. Nesic, "Receding horizon control approach to sampled-data implementation of continuous-time controller" 55 (55): 660-672, 2006

13 M. Liaquat, "Output regulation of sampled data systems using a realizable reconstruction filter" 2013

14 M. Dabroom, "Output feedback sampled data control of nonlinear systems using high-gain observers" 46 (46): 2001

15 T.Chen, "Optimal Sampled-Data Control Systems" Springer 1995

16 H. K. Khalil, "Nonlinear Systems" Prentice Hall 2002

17 J. H. Arhens, "Multi-rate sampled-data output feedback control with application to smart material actuated systems" 54 (54): 2518-2529, 2009

18 D. Nesic, "Lyapunov based continuous-time nonlinear controller redesign for sampled-data implementation" 41 : 1143-1156, 2005

19 W. J. Rugh, "Linear Systems Theory" Prentice Hall 1996

20 E. A. Medina, "Linear Impulsive Control Systems: A Geometric Approach" Faculty of the Russ College of Engineering and Technology of Ohio University 2007

21 R. De Nicolao, "Kalman filtering with mixed discrete continuous observations" 70 (70): 71-84, 1998

22 W. Sun, "H∞ control and filtering for sampled-data systems" 38 (38): 1162-1175, 1993

23 H. Zhang, "Homogenous polynomially parameter-dependent H∞ filter designs of discrete-time fuzzy systems" 41 (41): 1313-1322, 2011

24 H. Zhang, "Fuzzy H filter design for a class of nonlinear discrete-time systems with multiple time delays" 15 (15): 453-469, 2007

25 D. Nesic, "Formulas relating KL stability estimates of discrete-time and sampled-data nonlinear systems" 38 : 49-60, 1999

26 P. Shi, "Filtering on sampled-data systems with parametric uncertainty" 43 (43): 1022-1027, 1998

27 M. Maroni, "Existence and convergence of solutions to the H∞ sampled-data estimation problem" 73 (73): 1382-1391, 2000

28 J. S. A. Hepburn, "Error feedback and internal model on differentiable manifolds" 29 (29): 397-403, 1984

29 M. Liaquat, "Discrete time output regulation on sample-data systems" 4 (4): 735-739, 2012

30 P. T. Kabamba, "Control of linear systems using generalized sampled data hold functions" 32 (32): 772-783, 1987

31 Z. Ding, "Asymptotic rejection of unmatched periodic disturbances in output feedback non-linear systems" 3777-3782, 2007

32 S. Aihara, "Adaptive filtering for stochastic risk premia in bond market" 8 (8): 2203-2214, 2012

33 S. Haykin, "Adaptive Filter Theory" Prentice Hall 2001

34 M. Liaquat, "A realizable reconstruction filter for sampled data systems" 973-976, 2011

35 M. S. E. Abadil, "A family of set-membership affine projection adaptive filter algorithms" 8 (8): 1313-1326, 2012