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Overconvergence properties of quintic interpolatory splines
(1988)
Let Q be a quintic spline with equi-spaced knots on [a, b] interpolating a given function y at the knots. The parameters which determine Q are used to construct a piecewise defined polynomial P of degree six. It is shown ...
End conditions for interpolatory cubic splines with unequally spaced knots
(1980)
A class of end conditions is derived for cubic spline interpolation at unequally spaced knots. These conditions are in terms of function values at the knots and lead to 0 (h4) convergence uniformly on the interval of ...
Non-linear robust adaptive control of a SCARA manipulator
(Publ by IEEE, 1989)
A nonlinear adaptive controller is presented for manipulator tracking control. The controller is shown to be robust with respect to jump parameter changes such as payload variations. A benchmark model of a two-degrees-of-freedom ...
End conditions for interpolatory quintic splines
(1981)
Accurate end conditions are derived for quintic spline interpolation at equally spaced knots. These conditions are in terms of available function values at the knots and lead to O(h6) convergence uniformly on the interval ...
A class of piecewise-cubic interpolatory polynomials
(1980)
A new class of C1 piecewise-cubic interpolatory polynomials is defined, by generalizing the definition of cubic X-splines given recently by Clenshaw & Negus (1978). It is shown that this new class contains a number of ...
ADAPTIVE CONTROL OF LARGE SCALE SYSTEMS WITH REDUCED MODELS.
(Springer-Verlag, 1985)
This paper considers the robust redesign of decentralized adaptive controllers for a class of large scale systems formed of an arbitrary interconnection of subsystems with unknown parameters. In the design, a lower order ...
ROBUSTNESS OF THE POSITIVE REAL LEMMA AND ITS APPLICATION TO ADAPTIVE CONTROL.
(IEE, 1985)
We analyze the robustness properties of strictly positive real transfer functions with respect to a wide class of transfer function perturbations. We show that the strict positive realness property is robust with respect ...
ROBUST ADAPTIVE CONTROL.
(IEEE, 1984)
This paper considers the robust redesign of a direct adaptive controller applied to a linear time invariant plant with unmodeled stable dynamics. In order to achieve robustness the adaptive law is modified by retarding the ...
ROBUST DIRECT ADAPTIVE CONTROL.
(IEEE, 1984)
A new model reference adaptive control algorithm is proposed which has good robustness properties in the presence of unmodeled plant dynamics. The new algorithm requires filtering of the plant input and output with low-pass ...
ROBUST ADAPTIVE CONTROLLER WITH ZERO RESIDUAL TRACKING ERRORS.
(IEEE, 1985)
The adaptive control of a plant whose dominant part has a transfer function with relative degree n*** equals 1 has been considered in the presence of parasitics and disturbances. A new adaptive law is proposed which ...