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Geometric Aspects of Interconnection and Damping Assignment - Passivity-Based Control
This dissertation deals with smooth feedback stabilization of control-affine systems via Interconnection and Damping Assignment - Passivity-Based Control (IDA-PBC). The IDA-PBC methodology is a feedback control design ...
State Estimation and Parameter Identification of Continuous-time Nonlinear Systems
The problem of parameter and state estimation of a class of nonlinear systems is addressed. An adaptive identifier and observer are used to estimate the parameters and the state variables simultaneously. The proposed method ...