Stability of controllers with on-line computations

Zufiria Zatarain, Pedro José and Guttalu, Ramesh S. (1991). Stability of controllers with on-line computations. "Dynamics And Control", v. 1 (n. 2); pp. 151-175. ISSN 0925-4668.


Title: Stability of controllers with on-line computations
  • Zufiria Zatarain, Pedro José
  • Guttalu, Ramesh S.
Item Type: Article
Título de Revista/Publicación: Dynamics And Control
Date: 1991
ISSN: 0925-4668
Volume: 1
Faculty: E.T.S.I. Telecomunicación (UPM)
Department: Matemática Aplicada a las Tecnologías de la Información y las Comunicaciones
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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The dynamical systems theory developed by Zufifia [1], Zufiria and Guttalu [2, 3], and Guttalu and Zufiria [4] is applied to the stability analysis of control systems in which the feedback control law requires in real time the solution of a set of nonlinear algebraic equations. Since a small sampling period is assumed, the stability and performance of the controlled process can be studied with a continuous-time formulation. A singularly perturbed system is used to model both the dynamics of the system being controlled and a numerical iterative algorithm required to compute the control law. An updating control procedure has been proposed based on the iterative nature of the control algorithm. The results obtained by Zufiria [1] regarding the behavior of a dynamical system that models the numerical algorithms lead to a considerable simplification in the analysis. For the case of a control problem involving inverse kinematics, the numerical algorithm that solves for inverse kinematics can be considered as an observer (or an estimator) of the state-space variables. The study provides an estimate of the required speed of computations to preserve the stability of the controller.

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Item ID: 53499
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Deposited by: Memoria Investigacion
Deposited on: 25 Mar 2019 17:46
Last Modified: 25 Jan 2023 16:17
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