This volume is an outgrowth of the workshop Applications of Advanced Control Theory to Robotics and Automation, organized in honor of the 70th birthdays of Petar V. Kokotovic and Salvatore Nicosia. Both Petar and Turi have carried out distinguished work in the control community, and have long been recognized as mentors as well as experts and pioneers in the field of automatic control, covering many topics in control theory and several different applications. The variety of their research is reflected in this book, which includes contributions ranging from mathematics to laboratory experiments.Main topics covered include: * Observer design for time-delay systems, nonlinear systems, and identification for different classes of systems* Lyapunov tools for linear differential inclusions, control of constrained systems, and finite-time stability concepts * New studies of robot manipulators, parameter identification, and different control problems for mobile robots* Applications of modern control techniques to port-controlled Hamiltonian systems, different classes of vehicles, and web handling systems* Applications of the max-plus algebra to system-order reduction; optimal machine schedu used by many of the authors will make this book suitable for experts, as well as young researchers who seek a more intuitive understanding of these relevant topics in the field

This book provides a wide variety of state-space--based numerical algorithms for the synthesis of feedback algorithms for linear systems with input saturation. Specifically, it addresses and solves the anti-windup problem, presenting the objectives and terminology of the problem, the mathematical tools behind anti-windup algorithms, and more than twenty algorithms for anti-windup synthesis, illustrated with examples. Luca Zaccarian and Andrew Teel's modern method--combining a state-space approach with algorithms generated by solving linear matrix inequalities--treats MIMO and SISO systems with equal ease. The book, aimed at control engineers as well as graduate students, ranges from very simple anti-windup construction to sophisticated anti-windup algorithms for nonlinear systems. * Describes the fundamental objectives and principles behind anti-windup synthesis for control systems with actuator saturation * Takes a modern, state-space approach to synthesis that applies to both SISO and MIMO systems * Presents algorithms as linear matrix inequalities that can be readily solved with widely available software * Explains mathematical concepts that motivate synthesis algorithms * Uses nonlinear performance curves to quantify performance relative to disturbances of varying magnitudes * Includes anti-windup algorithms for a class of Euler-Lagrange nonlinear systems * Traces the history of anti-windup research through an extensive annotated bibliography

A reset controller is a linear controller whose output is reset to zero whenever its input and output satisfy an appropriate algebraic relationship. It has widespread industrial applications and is used in many modern day control systems.This monograph provides a comprehensive survey into three parts. Part I provides an historical literature review and presents some fundamental results. Part II deals with nonplanar reset systems and covers several reset rules that may be used to augment high-order controllers for plants of any order. It also provides several simulation studies showing that reset control strategies may allow to attain better performance with respect to the optimal ones obtained by classical continuous-time controllers. Part III focuses on planar systems and reports on a nontrivial generalization of the basic mechanisms emerging in Clegg integrators and First Order Reset Elements (FORE). Relevant case studies emerging in the automotive field are included. This monograph gives an in-depth assessment of the state-of-the-art and provides the reader with a starting point for further research into the increasingly important topic of Reset Control Systems.