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Universal integral control: An approach based on mollifiers

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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Contributor : Samer Riachy Connect in order to contact the contributor
Submitted on : Friday, April 24, 2015 - 4:46:20 PM
Last modification on : Tuesday, November 22, 2022 - 2:26:16 PM
Long-term archiving on: : Wednesday, April 19, 2017 - 6:00:04 AM


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Samer Riachy, Denis Efimov, Mamadou Mboup. Universal integral control: An approach based on mollifiers. IEEE Transactions on Automatic Control, 2016, 61 (1), pp.16. ⟨10.1109/TAC.2015.2427631⟩. ⟨hal-01145601⟩



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