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Title
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Delay-range-dependent observer-based control of nonlinear systems under input and output time-delays
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Sub-Title |
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Subject |
Observer-basedcontrol; Decoupling technique; Nonlinear time-delay systems; Delay-range-dependency; Input and output delays
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Sub-Subject |
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Author |
R. Majeed, S. Ahmad and M. Rehan
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Publish Year |
2015 |
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Diss#. |
10.1016/j.amc.2015.04.052 |
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Pages |
145-159 |
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Text Language |
English |
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Accession |
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Library Section |
Research Article |
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Abstract |
Observer-based control of nonlinear systems under input-output delays is studied.Time-varying nature of delays is incorporated for the controller design.Delay-range-dependent observer-based control is reported.Decoupling technique is applied to compute controller and observer gains.The control scheme is tested to control a one-link flexible joint robotic arm. The problem of designing observer-based controller for a class of nonlinear time-delay systems subjected to input and output time-varying delays is addressed in this paper. More incisively, a delay-range-dependent criterion, incorporating variation of delays between known lower and upper bounds, is established for control of nonlinear time-delay systems. The proposed methodology ensures asymptotic stability of the closed-loop system's state and the estimation error between states of the system and observer. By application of a Lyapunov-Krasovskii functional, Jensen's inequality, standard matrix inequality procedures, Luenberger-ty
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