A Generalized Minimum Phase Property for Finite-Dimensional Continuous-Time MIMO LTI Systems with Additive Disturbances
Sign Up to like & getrecommendations! Published in 2020 at "IFAC-PapersOnLine"
DOI: 10.1016/j.ifacol.2020.12.514
Abstract: Abstract In this paper, we further generalize the definition of the extended zero dynamics to finite-dimensional continuous-time MIMO LTI systems with additive disturbances; and then introduce the concept of minimum phase for this class of… read more here.
Keywords: system; minimum phase; lti systems; zero dynamics ... See more keywords
Zero Assignment via Generalized Sampler: A Countermeasure Against Zero-Dynamics Attack
Sign Up to like & getrecommendations! Published in 2021 at "IEEE Access"
DOI: 10.1109/access.2021.3101637
Abstract: Networked control systems have advantages such as flexibility, efficiency, but at the same time they are exposed to cyberattacks. Among many lethal attacks, the zero-dynamics attack is a model based attack and it is very… read more here.
Keywords: sampler; zero dynamics; generalized sampler; dynamics attack ... See more keywords
Distributed Controllers for Human-Robot Locomotion: A Scalable Approach Based on Decomposition and Hybrid Zero Dynamics
Sign Up to like & getrecommendations! Published in 2021 at "IEEE Control Systems Letters"
DOI: 10.1109/lcsys.2020.3045669
Abstract: This letter presents a formal foundation, based on decomposition, hybrid zero dynamics (HZD), and a scalable optimization, to develop distributed control algorithms for hybrid models of collaborative human-robot locomotion. The proposed approach considers a centralized… read more here.
Keywords: zero dynamics; based decomposition; approach; decomposition hybrid ... See more keywords
Stable, Robust Hybrid Zero Dynamics Control of Powered Lower-Limb Prostheses
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DOI: 10.1109/tac.2017.2648040
Abstract: To improve the quality of life for lower-limb amputees, powered prostheses are being developed. Advanced control schemes from the field of bipedal robots, such as hybrid zero dynamics (HZD), may provide great performance. HZD-based control… read more here.
Keywords: hybrid zero; zero dynamics; lower limb; control ... See more keywords
Inversion of MIMO systems with unstable zero dynamics
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DOI: 10.1134/s1064562417020144
Abstract: An inversion problem for a linear time-invariant MIMO system with possibly unstable zero dynamics is considered. Sufficient conditions for the invertibility of such systems are given, and an algorithm for invertor synthesis is proposed. The… read more here.
Keywords: unstable zero; zero dynamics; systems unstable; mimo systems ... See more keywords
The limiting zero dynamics of discrete-time system based on forward triangle sample-and-hold
Sign Up to like & getrecommendations! Published in 2023 at "PLOS ONE"
DOI: 10.1371/journal.pone.0283072
Abstract: Zero dynamics have crucial effect on system analysis and controller design. In the control analysis process, system performance is influenced by the unstable zero dynamics, greatly. This study concerns with the properties of limiting zero… read more here.
Keywords: zero dynamics; system; discrete time; limiting zero ... See more keywords
Zero-Dynamics Attack on Wind Turbines and Countermeasures Using Generalized Hold and Generalized Sampler
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DOI: 10.3390/app11031257
Abstract: Most wind turbines are monitored and controlled by supervisory control and data acquisition systems that involve remote communication through networks. Despite the flexibility and efficiency that network-based monitoring and control systems bring, these systems are… read more here.
Keywords: system; wind turbines; using generalized; zero dynamics ... See more keywords
Hybrid Zero Dynamics Control for Gait Guidance of a Novel Adjustable Pediatric Lower-Limb Exoskeleton
Sign Up to like & getrecommendations! Published in 2022 at "Bioengineering"
DOI: 10.3390/bioengineering9050208
Abstract: Exoskeleton technology has undergone significant developments for the adult population but is still lacking for the pediatric population. This paper presents the design of a hip–knee exoskeleton for children 6 to 11 years old with… read more here.
Keywords: zero dynamics; hybrid zero; gait guidance; control ... See more keywords