1,841 research outputs found

    Towards deterministic subspace identification for autonomous nonlinear systems

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    The problem of identifying deterministic autonomous linear and nonlinear systems is studied. A specific version of the theory of deterministic subspace identification for discrete-time autonomous linear systems is developed in continuous time. By combining the subspace approach to linear identification and the differential-geometric approach to nonlinear control systems, a novel identification framework for continuous-time autonomous nonlinear systems is developed

    Dimension estimation for autonomous nonlinear systems

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    The problem of estimating the dimension of the state-space of an autonomous nonlinear system is considered. Assuming that sampled measurements of the output and finitely many of its time derivatives are available, an exhaustive search algorithm able to retrieve the dimension of the minimal state-space realization is proposed. The performance of the algorithm are evaluated on specific nonlinear systems

    Model reduction by matching the steady-state response of explicit signal generators

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    © 2015 IEEE.Model reduction by moment matching for interpolation signals which do not have an implicit model, i.e., they do not satisfy a differential equation, is considered. Particular attention is devoted to discontinuous, possibly periodic, signals. The notion of moment is reformulated using an integral matrix equation. It is shown that, under specific conditions, the new definition and the one based on the Sylvester equation are equivalent. New parameterized families of models achieving moment matching are given. The results are illustrated by means of a numerical example

    Shared-Control for a UAV Operating in the 3D Space

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    This paper presents a shared-control scheme for a UAV moving in a 3D space while its feasible Cartesian position set is defined by a group of linear inequalities. A hysteresis switch is used to combine the human input and the feedback control input based on the definitions of a safe set, a hysteresis set and a “dangerous” set. Case studies given in the paper show the effectiveness of the shared-control algorithm

    A note on the electrical equivalent of the moment theory

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    In this short note the relation between the moments of a linear system and the phasors of an electric circuit is discussed. We show that the phasors are a special case of moments and we prove that the components of the solution of a Sylvester equation are the phasors of the currents of the system. We point out several directions in which the phasor theory can be extended using recent generalizations of the moment theory, which can benefit the analysis of circuits and power electronics

    Backstepping PDE Design: A Convex Optimization Approach

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    Abstract\u2014Backstepping design for boundary linear PDE is formulated as a convex optimization problem. Some classes of parabolic PDEs and a first-order hyperbolic PDE are studied, with particular attention to non-strict feedback structures. Based on the compactness of the Volterra and Fredholm-type operators involved, their Kernels are approximated via polynomial functions. The resulting Kernel-PDEs are optimized using Sumof- Squares (SOS) decomposition and solved via semidefinite programming, with sufficient precision to guarantee the stability of the system in the L2-norm. This formulation allows optimizing extra degrees of freedom where the Kernel-PDEs are included as constraints. Uniqueness and invertibility of the Fredholm-type transformation are proved for polynomial Kernels in the space of continuous functions. The effectiveness and limitations of the approach proposed are illustrated by numerical solutions of some Kernel-PDEs

    A remark on an example by Teel-Hespanha with applications to cascaded systems

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    A Note on Delay Coordinates for Locally Observable Analytic Systems

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    In this short note, the problem of locally reconstructing the state of a nonlinear system is studied. To avoid computational difficulties arising in the numerical differentiation of the output, the so-called delay coordinates are considered. The assumptions of analyticity and (local) observability of the system are shown to imply that a family of mappings, induced by the delay coordinates and parameterized by a time delay parameter, gives a local diffeomorphism for generic values of such delay parameter on a certain set. A worked-out example illustrates the result
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