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Questions related from David Cho
Hi, Let us say that a plant model of the following form is given: \dot{q} = A*q + B*u, y = C*q. The output of the model (y) is its position (x) and velocity (v). Using this output, I am going to...
02 April 2019 9,364 3 View
Hi, the standard form of a quadratic optimal control problem is given by J = 1/2 * integration (x'*Q*x + u'*R*u) {dt}, where Q and R are weight matrices. If we consider a second-order system with...
07 February 2018 9,137 1 View
Hello, As far as I know, PID controllers are most widely used in the industry although all real-life systems are nonlinear. Is there any mathematical proof that PID controllers (with sufficiently...
01 March 2017 2,570 3 View
Hello, If a Lagrangian is known for a given system, we can deduce its equation of motion using the Lagrange equation. Are there any other uses of a Lagrangian? One use I know is to find a...
01 March 2017 4,180 7 View
Hello, I am studying sliding mode control and have found that many references distinguish mismatched uncertainties from matched ones. I know that mismatched uncertainties do not enter the input...
01 February 2017 5,992 5 View
Hi I am studying adaptive sliding mode control. In many papers, the control law is defined as u = u_nom - K(t)*sign(s), where u_nom is 'ideal control' that is continuous assuming no uncertainties...
09 April 2016 1,697 12 View
Hi I want to solve an ODE with parameters calculated in another function. For example, I have the following ODE: dy/dx = -5*y + f where f is obtained in another function with a very complicated...
16 December 2015 3,017 4 View
As far as I know, conventional sliding mode control technique requires the upper bounds of uncertainties to prove the Lyapunov stability. However, sometimes estimating these bounds is very hard or...
28 September 2015 9,158 7 View
