By Bruce A. Francis, Malcolm C. Smith, Jan C. Willems

This Festschrift incorporates a selection of articles through acquaintances, co-authors, colleagues, and previous Ph.D. scholars of Keith Glover, Professor of Engineering on the college of Cambridge, at the party of his 60th birthday. Professor Glover's medical paintings spans a wide selection of issues, the most issues being procedure identity, version aid and approximation, strong controller synthesis, and regulate of plane and engines. The articles during this quantity are a tribute to Professor Glover's seminal paintings in those components.

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Extra resources for Control of uncertain systems--modelling, approximation, and design: a workshop on the occasion of Keith Glover's 60th birthday

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This is shown in Figure 4. Notice that the frequency of variation is substantial in comparison with the degree of stability of the frozen-parameter nominal closed-loop system. −) 1 −2 −3 0 5 10 15 20 25 30 0 5 10 15 Time 20 25 30 2 u (−) 1 0 −1 −2 −3 ˆ Fig. 5. Simulation of Pˆ (λ, s) interconnected with the LPV controller C(λ, s). The same disturbance and parameter variation as in Figure 4 is used; the closed-loop system remains stable. 196 × 104 V˜ (s) = , s4 + 26s3 + 251s2 + 1066s + 1680 respectively.

Gahinet, A. Nemirovski, A. J. Laub, and M. , 1995, for use with Matlab. Control of High-Speed Underwater Vehicles Gary J. A. Arndt3 1 2 3 Aerospace Engineering and Mechanics, 110 Union St. edu MTA SZTAKI, Hungarian Academy of Science, Budapest XI Kende u. hu Civil Engineering and St. Anthony Falls Laboratory, 2 Third Ave. edu I (GB) was fortunate that early in my career I had the opportunity to work with Keith Glover. Keith had just begun his obsession with golf. A simple game where a ball stands still and the player advances it from different parts of the landscape into a hole.

To perform the analysis and design a controller, new state variables for equation 3 are chosen as:     z(t) x1 (t) x2 (t) −V θ(t) + w(t)     (15)  x3 (t) =  θ(t) q(t) x4 (t) The matrix used for this coordinate transformation is:  T    c1 1 0 00 cT1 A 0 −V 1 0    Tc =   cT2  = 0 1 0 0 cT2 A 0 0 01 (16) The state space equations in the new coordinate system are: x ¯˙ = where Ac x¯(t) + Bc u(t) + F¯g Ac x¯(t) + F¯p (t, x, δ) + Bc u(t) + F¯g if c¯T (δ)¯ x(t) ≤ 0, T if c¯ (δ)¯ x(t) ≥ 0, (17)     0 1 0 0 0 −α110 −α111 −α120 −α121   T   Bc = c1 AB  Ac =   0   0  0 0 1 −α210 −α211 −α220 −α221 , cT2 AB (18) and F¯grav = Tc Fgrav + C1 where C1 is a constant associated with the shift in the origin of the coordinate system.

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