Now showing items 1-6 of 6

  • [2012-04-19] Experimental implementation of MRAC for a Dc Servo Motor 

    Abdallah, Chaouki T.; Cerda, A.; Jordan, R.
    A hardware implementation of adaptive controllers using a digital signal processor (TMS320C25) is described. Two model reference adaptive control (MRAC) schemes are explored together with some of the practical problems ...
  • [2012-04-24] Robust adaptive control for a class of partially known nonlinear systems 

    Abdallah, Chaouki T.; Lewis, F. L.; Maliotis, G.
    An adaptive controller is developed that takes advantage of the structure and any known dynamics of the system in order to increase speed of adaptation and relax the conditions required for convergence. The control design ...
  • [2012-04-24] A Routh-like algorithm in system identification and adaptive control 

    Abdallah, Chaouki T.; Lewis, F. L.; Stevens, B. L.
    This paper introduces algorithms to be used for finding the Cauchy index of a transfer function and for solving the Diophantine equation. The algorithms are similar to the Routh-Hurwitz array in structure and are simple ...
  • [2012-04-19] SPR design using feedback 

    Abdallah, Chaouki T.; Dorato, Peter; Karni, S.
    In this paper we derive necessary and sufficient conditions for a square transfer matrix to be rendered Strictly-Positive-Real (SPR) using output feedback. These conditions are then related to the existence of stable inverse ...
  • [2012-04-19] Survey of robust control for rigid robots 

    Abdallah, Chaouki T.; Dawson, D.; Dorato, Peter; Jamshidi, M.
    Current approaches to the robust control of the motion of rigid robots are surveyed, and the available literature is summarized. The five major design approaches discussed are the linear-multivariable approach, the passivity ...
  • [2012-04-24] Survey of the robust control of robots 

    Abdallah, Chaouki T.; Dorato, Peter; Jamshidi, M.
    Browse Conference Publications > American Control Conference, ... Page Help Survey of the Robust Control of Robots This paper appears in: American Control Conference, 1990 Date of Conference: 23-25 May 1990 Author(s): ...