English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Plus monthly

Global: Zendy Tools annual

Global: Zendy Tools monthly

Global: Zendy Free Plan

In this paper, we consider the analysis and control of continuous-timenonlinear systems to ensure universal shifted stability and performance, i.e.,stability and performance w.r.t. each forced equilibrium point of the system.This "equilibrium-free" concept is especially beneficial for control problemsthat require the tracking of setpoints and rejection of persistentdisturbances, such as input loads. In this paper, we show how the velocityform, i.e., the time-differentiated dynamics of the system, plays a crucialrole in characterizing these properties and how the analysis of it can besolved by the application of Linear Parameter-Varying (LPV) methods in acomputationally efficient manner. Furthermore, by leveraging the properties ofthe velocity form and the LPV framework, a novel controller synthesis method ispresented which ensures closed-loop universal shifted stability andperformance. The proposed controller design is verified in a simulation studyand also experimentally on a real system. Additionally, we compare the proposedmethod to a standard LPV control design, demonstrating the improved stabilityand performance guarantees of the new approach.

Equilibrium-Independent Control of Continuous-Time Nonlinear Systems via the LPV Framework -- Extended Version