instantaneous helical axis estimation from 3 d video data in neck kinematics for whiplash diagnostics to date the diagnosis of whiplash injuries has been very difficult and largely based on subjective clinical assessment the work by winters and peles multiple muscle systems biomechanics and movement organization springer new york 1990 suggests that the use of finite helical axes fhas in the neck may provide an objective assessment tool for neck mobility thus the position of the fha describing head trunk motion may allow discrimination between normal and pathological cases such as decreased mobility in particular cervical joints for noisy unsmoothed data the fhas must be taken over rather large angular intervals if the fhas are to be reconstructed with sufficient accuracy in the winters and peles study these intervals were approximately 10 in order to study the movements microstructure the present investigation uses instantaneous helical axes ihas estimated from low pass smoothed video data here the small step noise sensitivity of the fha no longer applies and proper low pass filtering allows estimation of the iha even for small rotation velocity of the moving neck for marker clusters mounted on the head and trunk technical system validation showed that the ihas direction dispersions were on the order of one degree while their position dispersions were on the order of 1 mm for low pass cut off frequencies of a few hz the dispersions were calculated from weighted errors in order to account for the adverse effects of vanishing various simple planar models relating the instantaneous 2 d centre of rotation with the geometry and kinematics of a multi joint neck model are derived in order to gauge the utility of the fha and iha approaches some preliminary results on asymptomatic and pathological subjects are provided in terms of the ruled surface formed by sampled ihas and of their piercing points through the mid sagittal plane during a prescribed flexion extension movement of the neck

fuzzy control rules and their natural laws abstract we consider the convergence of fuzzy controllers as the number of fuzzy rules tends to infinity we assume that the fuzzy rules are regular and show the existence of limit laws for five different fuzzy control rules

new design and stability analysis of fuzzy proportional derivative control systems this paper describes the design principle tracking performance and stability analysis of a fuzzy proportional derivative pd controller first the fuzzy pd controller is derived from the conventional continuous time linear pd controller then the fuzzification control rule base and defuzzification in the design of the fuzzy pd controller are discussed in detail the resulting controller is a discrete time fuzzy version of the conventional pd controller which has the same linear structure in the proportional and the derivative parts but has nonconstant gains both the proportional and derivative gains are nonlinear functions of the input signals the new fuzzy pd controller thus preserves the simple linear structure of the conventional pd controller yet enhances its self tuning control capability computer simulation results have demonstrated this advantage of the fuzzy pd controller particularly when the process to be controlled is nonlinear after a detailed stability analysis where a simple and realistic sufficient condition for the bounded input bounded output stability of the overall feedback control system was derived several computer simulation results are compared with the conventional pd controller although the conventional and fuzzy pd controllers are not exactly comparable the authors compare them in order to have a sense of how well the fuzzy pd controller performs for this reason in the simulations several first order and second order linear systems with or without time delays are first used to test the performance of the fuzzy pd controller for step reference inputs the fuzzy pd control systems show remarkable performance as well as if not better than the conventional pd control systems moreover the fuzzy pd controller is compared to the conventional pd controller for a particular second order linear system showing the advantage of the fuzzy pd controller over the conventional one in the sense that in order to obtain the same control performance the conventional pd controller has to employ an extremely large gain while the fuzzy controller uses a reasonably small gain finally in the case of nonlinear systems the authors provide some examples to show that the fuzzy pd controller can track the set points satisfactorily but the conventional pd controller cannot

the simplest fuzzy controllers using different inference methods are different nonlinear proportional integral controllers with variable gains abstract the author analytically proves that the simplest fuzzy controllers using different inference methods are different nonlinear proportional integral pi controllers with proportional gains and integral gains changing with inputs of the controllers the inference methods involved are mamdani s minimum inference method larsen s product inference method the drastic product inference method and the bounded product inference method configuration of the fuzzy controllers is minimal which includes two input fuzzy sets three output fuzzy sets four control rules zadeh fuzzy logic and lukasiewicz fuzzy logic or and a center of gravity defuzzification algorithm after analytically investigating properties of the nonlinear pi controllers the author reveals that the bounded product inference method is inappropriate for the control purpose while the other three inference methods are appropriate dynamic and static control behaviors of the fuzzy controllers with the appropriate inference methods are analytically compared with each other and are also compared with those of the linear pi controller finally it is analytically proven that the fuzzy control systems have the same local stability at the equilibrium point as the corresponding linear pi control system does

the analysis of golf swing as a kinematic chain using dual euler angle algorithm the manner in which anatomical rotation from an individual segment contributes to the position and velocity of the endpoint can be informative in the arena of many athletic events whose goals are to attain the maximal velocity of the most distal segment this study presents a new method of velocity analysis using dual euler angles and its application in studying rotational contribution from upper extremity segments to club head speed during a golf swing dual euler angle describes 3d movement as a series of ordered screw motions about each orthogonal axis in a streamlined matrix form the dual transformation matrix and allows the translation and rotation component to be described in the same moving frame applying this method in biomechanics is a novel idea and the authors have previously applied the methodology to clinical studies on its use in displacement analysis the focus of this paper is velocity analysis and applications in sports biomechanics in this study electrogoniometers biometrics uk with a frequency of 1000 hz were attached to a subject during the execution of the swing to obtain the joint angles throughout the motion the velocity of the club head was then analyzed using the dual velocity which specifies the velocity distribution of a rigid body in screw motion at any point in time as the dual vector the contributions of each segment to the club head velocity were also compared in order to evaluate this method the calculated position and velocity of the club head were compared to the values obtained from video image analysis the results indicated that there is good agreement between calculated values and video data suggesting the suitability of using the dual euler method in analyzing a kinematic chain motion

robustness of fuzzy logic control for an uncertain dynamic system based on the similarity between prevalent fuzzy logic controllers flc and the conventional robust controller i e the variable structure controller control theoretic analysis of a fuzzy control system is presented in the sense of lyapunov as well as the robustness of the fuzzy control system against uncertainties of a controlled process this analysis gives an account of the relationship between control performance and the design parameters of the flc which has been obscure in the theory of fuzzy control

constructing nonlinear variable gain controllers via the takagi sugeno fuzzy control we investigated the analytical structure of the takagi sugeno ts type of fuzzy controllers which was unavailable in the literature the ts fuzzy controllers we studied employ a new and simplified ts control rule scheme in which all the rule consequent use a common function and are proportional to one another greatly reducing the number of parameters needed in the rules other components of the fuzzy controllers are general arbitrary input fuzzy sets any type of fuzzy logic and the generalized defuzzifier which contains the popular centroid defuzzifier as a special case we proved that all these ts fuzzy controllers were nonlinear variable gain controllers and characteristics of the gain variation were parametrized and governed by the rule proportionality we conducted an in depth analysis on a class of nonlinear variable gain proportional derivative pd controllers we present the results to show 1 how to analyze the characteristics of the variable gains in the context of control 2 why the nonlinear variable gain pd controllers can outperform their linear counterpart and 3 how to generate various gain variation characteristics through the manipulation of the rule proportionality

estimation of the axis of a screw motion from noisy data a new method based on plucker lines the problems of estimating the motion and orientation parameters of a body segment from two n point set patterns are analyzed using the plucker coordinates of a line plucker lines the aim is to find algorithms less complex than those in conventional use and thus facilitating more accurate computation of the unknown parameters all conventional techniques use point transformation to calculate the screw axis in this paper we present a novel technique that directly estimates the axis of a screw motion as a plucker line the plucker line can be transformed via the dual number coordinate transformation matrix this method is compared with schwartz and rozumalski 2005 a new method for estimating joint parameters from motion data journal of biomechanics 38 107 116 in simulations of random measurement errors and systematic skin movements simulation results indicate that the methods based on plucker lines plucker line method are superior in terms of extremely good results in the determination of the screw axis direction and position as well as a concise derivation of mathematical statements this investigation yielded practical results which can be used to locate the axis of a screw motion in a noisy environment developing the dual transformation matrix dtm from noisy data and determining the screw axis from a given dtm is done in a manner analogous to that for handling simple rotations a more robust approach to solve for the dual vector associated with dtm is also addressed by using the eigenvector and the singular value decomposition

pad analysis of fuzzy control stability abstract by means of an index represented rule mapping the response g of a fuzzy controller is decomposed into two parts f the classical component and g f the nonlinear component called pad we intend to analyse the pad in order to know what the relation is between fuzzy and classical pid controllers fuzzy controllers mentioned here are defuzzified by the typical center of gravity method in the 1 input case we get that f g 0 which means that the fuzzy controller is exactly the same as the classical p controller whenever the rule mapping is simple definition 1 2 and the linguistic values are a binary family definition 4 1 in the 2 input case of error and error change for simple rule mapping and for simple linguistic values family 4 7 and perfectly for the wxyz linguistic values family definition 6 1 the fuzzy controller can be viewed as a series connection of a classical pd controller and a 1 pad element the describing function of a 1 pad element is very simple and fine and ensures that such fuzzy controller will be stable if the pd controller is the similar consequences are also obtained for the case of three inputs

an approach to fuzzy control of nonlinear systems stability and design issues presents a design methodology for stabilization of a class of nonlinear systems first the authors represent a nonlinear plant with a takagi sugeno fuzzy model then a model based fuzzy controller design utilizing the concept of the so called parallel distributed compensation is employed the main idea of the controller design is to derive each control rule so as to compensate each rule of a fuzzy system the design procedure is conceptually simple and natural moreover the stability analysis and control design problems can be reduced to linear matrix inequality lmi problems therefore they can be solved efficiently in practice by convex programming techniques for lmis the design methodology is illustrated by application to the problem of balancing and swing up of an inverted pendulum on a cart

new least squares solutions for estimating the average centre of rotation and the axis of rotation a new method is proposed for estimating the parameters of ball joints also known as spherical or revolute joints and hinge joints with a fixed axis of rotation the method does not require manual adjustment of any optimisation parameters and produces closed form solutions it is a least squares solution using the whole 3d motion data set we do not assume strict rigidity but only that the markers maintain a constant distance from the centre or axis of rotation this method is compared with other methods that use similar assumptions in the cases of random measurement errors systematic skin movements and skin movements with random measurement noise simulation results indicate that the new method is superior in terms of the algorithm used the closure of the solution consistency and minimal manual parameter adjustment the method can also be adapted to joints with translational movements

robust estimation of dominant axis of rotation a simple method is developed for robustly estimating a fixed dominant axis of rotation aor of anatomical joints from surface marker data previous approaches which assume a model of circular marker trajectories use plane fitting to estimate the direction of the aor however when there is limited joint range of motion and rotation due to a second degree of freedom minimizing only the planar error can give poor estimates of the aor direction optimizing a cost function which includes the error component within a plane instead of only the component orthogonal to a plane leads to improved estimates of the aor direction for joints which exhibit additional rotational motion from a second degree of freedom results from synthetic data validation show the ranges of motion where the new method has lower estimation error compared to plane fitting techniques estimates of the flexion extension aor from empirical motion capture data of the knee and index finger joints were also more anatomically plausible

analysis and design of fuzzy controller and fuzzy observer this paper addresses the analysis and design of a fuzzy controller and a fuzzy observer on the basis of the takagi sugeno t s fuzzy model the main contribution of the paper is the development of the separation property that is the fuzzy controller and the fuzzy observer can be independently designed a numerical simulation and an experiment on an inverted pendulum system are described to illustrate the performance of the fuzzy controller and the fuzzy observer

comments on robust stabilization of a class of uncertain nonlinear systems via fuzzy control quadratic stabilizability h sup spl infin control theory and linear matrix inequalities this paper presents stability analysis for a class of uncertain nonlinear systems and a method for designing robust fuzzy controllers to stabilize the uncertain nonlinear systems first a stability condition for takagi and sugeno s fuzzy model is given in terms of lyapunov stability theory next new stability conditions for a generalized class of uncertain systems are derived from robust control techniques such as quadratic stabilization h sup spl infin control theory and linear matrix inequalities the derived stability conditions are used to analyze the stability of takagi and sugeno s fuzzy control systems with uncertainty which can be regarded as a generalized class of uncertain nonlinear systems the design method employs the so called parallel distributed compensation important issues for the stability analysis and design are remarked finally three design examples of fuzzy controllers for stabilizing nonlinear systems and uncertain nonlinear systems are presented

fuzzy bitopological space induced by fuzzy quasi pseudo norm and its conjugate abstract a fuzzy bitopological space x b x t p t q is considered where t p and t q are fuzzy topologies induced by fuzzy quasi pseudo norm p and its conjugate q introducing notion of quasi pseudo norm and its conjugate in fuzzy structure fuzzy topologies are generated by such fuzzy norms and characterization of a pairwise hausdorff fuzzy bitopological space is established in this paper

fuzzy regulators and fuzzy observers relaxed stability conditions and lmi based designs this paper presents new relaxed stability conditions and lmi linear matrix inequality based designs for both continuous and discrete fuzzy control systems they are applied to design problems of fuzzy regulators and fuzzy observers first takagi and sugeno s fuzzy models and some stability results are recalled to design fuzzy regulators and fuzzy observers nonlinear systems are represented by takagi sugeno s ts fuzzy models the concept of parallel distributed compensation is employed to design fuzzy regulators and fuzzy observers from the ts fuzzy models new stability conditions are obtained by relaxing the stability conditions derived in previous papers lmi based design procedures for fuzzy regulators and fuzzy observers are constructed using the parallel distributed compensation and the relaxed stability conditions other lmi s with respect to decay rate and constraints on control input and output are also derived and utilized in the design procedures design examples for nonlinear systems demonstrate the utility of the relaxed stability conditions and the lmi based design procedures

studies on the output of fuzzy controller with multiple inputs abstract in this paper we discuss the output of a fuzzy controller in which an arbitrary number of fuzzy control inputs and an arbitrary number of fuzzy sets employed to fuzzify every linguistic variable are considered in the fuzzy control rules a rule base with a rule mapping concept is considered a defuzzifier with the general t norm and t conorm operators is formulated a triangular family is adopted so that the defuzzifier of the complete rule mapping is represented by a formula consisting of only some rules using a specific logic pair to evaluate values we derive that the output of the fuzzy controller can be simply represented by a linear parametric function of the inputs to the fuzzy controller

a nonlinear fuzzy controller with linear control rules is the sum of a global two dimensional multilevel relay and a local nonlinear proportional integral controller abstract the author analytically proves that a nonlinear fuzzy controller with linear control rules and n members for input fuzzy sets is the sum of a global two dimensional multilevel relay and a local nonlinear proportional integral pi controller which adjusts the control action generated by the global multilevel relay as n increases the resolution of the global multilevel relay is enhanced but the role of the local nonlinear pi controller in total control action is decreased as n approaches the global multilevel relay approaches a regular linear pi controller while the control action from the local nonlinear pi controller approaches zero the role of the global multilevel relay and the local nonlinear pi controller in total control action is quantitatively described as is the degree of nonlinearity of the fuzzy controllers with different n

a new method for estimating the axis of rotation and the center of rotation a new method is presented for estimating the parameters of two different models of a joint the two models are 1 a rotational joint with a fixed axis of rotation also referred to as a hinge joint and 2 a ball and socket model corresponding to a spherical joint given the motion of a set of markers it is shown how the parameters can be estimated utilizing the whole data set the parameters are estimated from motion data by minimizing two objective functions the method does not assume a rigid body motion but only that each marker rotates around the same fixed axis of rotation or center of rotation simulation results indicate that in situations where the rigid body assumption is valid and when measurement noise is present the proposed method is inferior to methods that utilize the rigid body assumption however when there are large skin movement artefacts simulation results show the proposed method to be more robust

regular paper the takagi sugeno fuzzy controllers using the simplified linear control rules are nonlinear variable gain controllers takagi sugeno ts for short fuzzy controllers have been used and treated as black box controllers and there exists no explicit structure of any ts fuzzy controller in the literature in this paper we investigate the analytical structure of the ts fuzzy controllers that use our newly introduced simplified ts control rule scheme our scheme requires that all the rule consequent employ a common linear function and be proportional to one another the scheme drastically reduces the number of adjustable parameters required by the original ts rule scheme product fuzzy logic and was employed in the rule antecedents we theoretically proved that the ts controllers using the simplified rule scheme were nonlinear variable gain controllers the proportionality of the rule consequent parameterized the gain variation characteristics as special cases the ts controllers with three or two input variables and the simplified linear rule consequent were nonlinear variable gain pid pi or pd controllers as an illustration we mathematically analyzed the nonlinear variable gain pi controllers and revealed that the gain variation empowered the controllers to outperform their linear counterparts stability of the nonlinear pi control systems was also addressed a practical example is given to show how to achieve the desired characteristics of the gain variation by properly designing the simplified rules

a new method for estimating joint parameters from motion data joint centers and axes of rotation joint parameters are central to all branches of movement analysis in gait analysis the standard protocol used to determine hip and knee joint parameters is prone to errors arising from palpation anthropometric regression equations and misplaced alignment devices several alternative methods have been proposed but to date none have been shown to be accurate and reliable enough for use in the clinical setting this article describes a new method for joint parameter estimation the new method can be summarized as follows i the motions of two adjacent segments spanning a single joint are tracked ii the axis of rotation between every pair of observed segment configurations is computed iii the most likely intersection of all axes effective joint center and most likely orientation of the axes effective joint axis is found initial validation of the method was conducted on a hinged mechanical analog and a single healthy adult subject for the analog the center was found to be within 3 8 mm of the geometric center and 2 0 degrees of the geometric axis standard deviation for the adult subject hip centers varied on the order of 1 3 mm knee centers by 3 9 mm and knee axes by 2 0 degrees the results suggest that the new method is an objective precise and practical alternative to the standard clinical approach

stability analysis and design of takagi sugeno fuzzy systems this work presents stable composite control criteria for multivariable takagi sugeno t s fuzzy systems on the basis of the linear matrix inequality lmi control strategy and parametric optimization the composite fuzzy control algorithms are derived unlike earlier studies of fuzzy control systems on an lmi framework this investigation develops a supervisory control approach such that a fuzzy controller can be synthesized more efficiently moreover a robust control scheme is applied to the t s fuzzy model with parametric uncertainties the sufficient conditions are deduced in the form of reduced lmis and adaptive tuning rules finally numeric simulations are given to validate the proposed approach

finite centroid and helical axis estimation from noisy landmark measurements in the study of human joint kinematics abstract recent work on joint kinematics indicates that the finite centroid centre of rotation and the finite helical axis axis of rotation screw axis twist axis are highly susceptible to measurement errors when they are experimentally determined from landmark position data this paper presents an analytical model to describe these effects under isotropic conditions for the measurement errors and for the spatial landmark distribution it appears that the position and direction errors are inversely proportional to the rotation magnitude and that they are much more error prone than the relatively well determined rotation and translation magnitudes furthermore the direction and rotation magnitude errors are inversely proportional to the landmark distribution radius and the position and translation magnitude errors are minimal if the mean position of the landmarks coincides with the centroid or helical axis for the planar centroid the use of rigid body constraints results in considerable precision improvement relative to the classical finite reuleaux method for centroid reconstruction these analytical results can be used to define suitable measurement configurations and they are used in this paper to explain experimental results on rontgenphotogrammetrically acquired in vitro wrist joint movement

analytical structure of a two input two output fuzzy controller and its relation to pi and multilevel relay controllers abstract this study investigates the analytical structure of a two input two output fuzzy controller which employs triangular shaped input fuzzy sets trapezoidal shaped output fuzzy sets linear control rules probabilistic and fuzzy logic ukasiewicz or fuzzy logic mamdani s minimum inference method and the center of gravity defuzzification algorithm we analytically prove that the structure of the fuzzy controller is the sum of global four dimensional multilevel relays and local nonlinear proportional integral pi controllers with variable gains continuously changing with process outputs the global multilevel relays play a major role in determining control action of the fuzzy controller while the local pi controllers locally fine tune the control action of the relays properties of the fuzzy controller structure are analytically and quantitatively investigated moreover it is proved that as the number of control rules approaches each global four dimensional multilevel relay becomes the sum of two global linear pi controllers while the local pi controllers disappear

finite dimensional fuzzy normed linear space abstract the concept of a fuzzy normed linear space is introduced it is proved that in a finite dimensional fuzzy normed linear space fuzzy norms are the same upto fuzzy equivalence finite dimensional fuzzy subspaces of a fuzzy normed linear space are proved to be necessarily complete fuzzy normed linear spaces

use of dual euler angles to quantify the three dimensional joint motion and its application to the ankle joint complex this paper presents a modified euler angles method dual euler angles approach to describe general spatial human joint motions in dual euler angles approach the three dimensional joint motion is considered as three successive screw motions with respect to the axes of the moving segment coordinate system accordingly the screw motion displacements are represented by dual euler angles the algorithm for calculating dual euler angles from coordinates of markers on the moving segment is also provided in this study as an example the proposed method is applied to describe motions of ankle joint complex during dorsiflexion plantarflexion a flock of birds electromagnetic tracking device fob was used to measure joint motion in vivo preliminary accuracy tests on a gimbal structure demonstrate that the mean errors of dual euler angles evaluated by using source data from fob are less than 11 for rotations and 1 mm for translations respectively based on the pilot study fob is feasible for quantifying human joint motions using dual euler angles approach r 2002 elsevier science ltd all rights reserved

theory of the fuzzy controller abstract we first introduce notation in an attempt to standardize the description of a basic fuzzy controller if r 1 r 2 r n are the real number inputs to the fuzzy controller and is its defuzzified output then f r 1 r n for some function f by the theory of the fuzzy controller we mean in this paper the study of the structure of f for elementary fuzzy controllers using this standardized notation we first survey the known results on the theory of the fuzzy controller and then discuss important future research topics in this area

towards a paradigm for fuzzy logic control the purpose of this paper is to lay a foundation for fuzzy logic control flc design constructing a class of fuzzy logic controllers that is suitable for a broad range of controls applications some scalar definitions in flc are extended to the n dimensional case including vector fuzzy number and membership vector a rigorous mathematical expression is given for the function g x called the reasoning surface manufactured by a fuzzy associative memory fam for the existence and uniqueness of solutions in any closed loop system with a fuzzy logic controller it is shown that the fam function g x must be lipschitz this places restrictions on the allowed rules in the flc it is argued that for effective control design the membership functions should not be uniformly spaced the triangular membership functions generally suffice and product inferencing should be used under these conditions the flc manufactures a piecewise multilinear lipschitz fam function g x that is a generalized proportional plus derivative plus offset controller the scalar and two dimensional cases are studied in detail

general takagi sugeno fuzzy systems with simplified linear rule consequent are universal controllers models and filters abstract takagi sugeno ts fuzzy systems have successfully been employed mainly in a trial and error manner to solve many control and modeling problems but their applications as signal filters remain to be fully explored compared to their nonfuzzy counterparts ts fuzzy controllers and models are difficult to be efficiently constructed because there is a large number of design parameters in the rule consequent the number grows dramatically with the increase of the number of input fuzzy sets and input variables furthermore there exists little published result on relationship between ts fuzzy controllers models filters and their nonfuzzy counterparts in this paper we investigate in relation to some popular nonfuzzy controllers models and filters analytical structure of a general class of multi input single output miso ts fuzzy systems that use arbitrary fuzzy rules with our recently introduced simplified linear rule consequent other components of the fuzzy systems in this study are general arbitrary continuous input fuzzy sets any type of fuzzy logic and and the generalized defuzzifier containing the widely used centroid defuzzifier as a special case we prove that the general miso ts fuzzy systems are 1 nonlinear variable gain controllers when implemented as controllers or 2 nonlinear time varying auto regressive with the extra input arx models when implemented as models or 3 nonlinear infinite impulse response iir or finite impulse response fir filters when implemented as filters furthermore we constructively prove that the general ts fuzzy systems with the simplified linear rule consequent are universal approximators and can approximate any continuous function in closed domain arbitrarily well the practical implication of these results is that these fuzzy systems with much less design parameters are always able to produce solutions to various control modeling and filtering problems we also establish sufficient conditions that can be used to calculate the number of input fuzzy sets and rules needed for achieving prespecified approximation accuracy

hybrid state space fuzzy model based controller with dual rate sampling for digital control of chaotic systems we develop a hybrid state space fuzzy model based controller with dual rate sampling for digital control of chaotic systems a takagi sugeno ts fuzzy model is used to model the chaotic dynamic system and the extended parallel distributed compensation technique is proposed and formulated for designing the fuzzy model based controller under stability conditions the optimal regional pole assignment technique is also adopted in the design of the local feedback controllers for the multiple ts linear state space models the proposed design procedure is as follows an equivalent fast rate discrete time state space model of the continuous time system is first constructed by using fuzzy inference systems to obtain the continuous time optimal state feedback gains the constructed discrete time fuzzy system is then converted into a continuous time system the developed optimal continuous time control law is finally converted into an equivalent slow rate digital control law using the proposed intelligent digital redesign method the main contribution of the paper is the development of a systematic and effective framework for fuzzy model based controller design with dual rate sampling for digital control of complex such as chaotic systems the effectiveness and the feasibility of the proposed controller design method is demonstrated through numerical simulations on the chaotic chua circuit

neural network based control design an lmi approach we address a neural network based control design for a discrete time nonlinear system our design approach is to approximate the nonlinear system with a multilayer perceptron of which the activation functions are of the sigmoid type symmetric to the origin a linear difference inclusion representation is then established for this class of approximating neural networks and is used to design a state feedback control law for the nonlinear system based on the certainty equivalence principle the control design equations are shown to be a set of linear matrix inequalities where a convex optimization algorithm can be applied to determine the control signal further the stability of the closed loop is guaranteed in the sense that there exists a unique global attraction region in the neighborhood of the origin to which every trajectory of the closed loop system converges finally a simple example is presented so as to illustrate our control design procedure

fuzzy chaos hybrid controller for controlling of nonlinear systems a novel concept for controlling of nonlinear systems using chaos and fuzzy model based regulators is presented in the control of such systems we employ two phases the first of which uses open loop control forming a chaotic attractor or using chaotic inherent features in a system itself once the system states reach a predefined convex domain open loop control is cut off and a fuzzy model based controller is employed under state feedback control in the second phase the relaxed stability conditions and linear matrix inequalities lmis based design for a fuzzy regulator is introduced to construct a fuzzy attractive domain in which a global solution is obtained so as to achieve the desired stability condition of the closed loop system the proposed controller architecture has been tested using three nonlinear systems the henon map the lorenz attractor and a two link manipulator the simulation results show the effectiveness of the proposed controller