Design of Robust Controllers: Frequency Domain Methods and Their Non-Linear Extensions

Abstract

The accomplishments were to extend H(infinity) control in new directions: (1) non-linear control. Theoretical work gave algorithms for determining in real time key properties (the state) of a system one tries to control. Purely numerical work gave a "turnkey" methodology for designing optimal controllers for the compressor stall problem. Mathematically related was numerical solution of the extremely hard path planning problem, biped motion, a "5-link robot". (2) Computer algebra methods appropriate for systems which are aggregates of smaller systems (commercial computer algebra packages now do not do this). (3) One of the most common techniques now used for performance optimization (co-ordinate descent applied to matrix inequalities) and show that it gives the wrong answer with probability one. Also results give a test to see how far off (local optimum) this is.

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Document Details

Document Type
Technical Report
Publication Date
Dec 31, 1999
Accession Number
ADA380889

Entities

People

  • J. W. Helton

Organizations

  • University of California, San Diego

Tags

Communities of Interest

  • Energy and Power Technologies
  • Human Systems
  • Weapons Technologies

DTIC Thesaurus Topics

  • Algebra
  • Algorithms
  • Closed Loop Systems
  • Complex Variables
  • Computer Programs
  • Computers
  • Control Systems
  • Engineering
  • Equations
  • Frequency
  • Frequency Bands
  • Frequency Domain
  • Inequalities
  • Linear Systems
  • Mathematics
  • Nonlinear Systems
  • Optimization

Readers

  • Adaptive Control and Estimation with Uncertainty in Dynamic Systems.
  • Calculus or Mathematical Analysis
  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • AI & ML - Machine Learning Algorithms
  • Autonomy
  • Autonomy - Autonomous System Control