Majorant-Based Control Methodology for Mechatronic and Transportation Processes

Abstract

This paper provides a unified approach via majorant systems, which allows one to easily design a family of robust, smooth and effective control laws of proportionalh order integralk order derivative (PI h D k )-type for broad classes of uncertain nonlinear multi-input multi-output (MIMO) systems, including mechatronic and transportation processes with ideal or real actuators, subject to bounded disturbances and measurement errors. The proposed control laws are simple to design and implement and are used, acting on a single design parameter, to track a sufficiently smooth but generic reference signal, yielding a tracking error norm less than a prescribed value, with a good transient phase and feasible control signals, despite the presence of disturbances, parametric and structural uncertainties, measurement errors, and in case of real actuators and amplifiers. Moreover, some guidelines to easily design the proposed controllers are given. Finally, the stated unified methodology and various performance comparisons are illustrated and validated in two case studies.INDEX TERMS Uncertain nonlinear MIMO systems, mechatronic processes, transportation systems, (PI h D k )-type control laws, robust control, majorant systems.

Adaptive Neural Security Control for Networked Singular Systems Under Deception Attacks

“…All the references discussed above assume that deception attacks are bounded or known, which limits the scope of application of the proposed method [25], [26]. According to the characteristics of deception attack, it can be regarded as an unknown nonlinear function related to the state.…”