Universal integral control: An approach based on mollifiers

Samer Riachy 1, 2 Denis Efimov 2 Mamadou Mboup 3, 2
2 NON-A - Non-Asymptotic estimation for online systems
Inria Lille - Nord Europe, CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189
Abstract : The Universal Integral Control, introduced in H.K. Khalil [6], is revisited by employing mollifiers instead of a high-gain observer for the differentiation of the output signal. The closed loop system is a classical functional differential equation with distributed delays on which standard Lyapunov arguments are applied to study the stability. Low-pass filtering capability of mollifiers is demonstrated for a high amplitude and rapidly oscillating noise. The controller is supported by numerical simulations.
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Samer Riachy, Denis Efimov, Mamadou Mboup. Universal integral control: An approach based on mollifiers. IEEE Transactions on Automatic Control, Institute of Electrical and Electronics Engineers, 2016, pp.16. ⟨hal-01145601⟩

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