Design of Robust Digital Controllers

这项建议是为了继续在Grant ECS-8505645下开始的研究，并涉及将L1优化理论应用于非线性系统的数字控制器设计的理论和计算机辅助设计算法的发展。简要回顾了L1-最优控制的研究现状，并以机械臂控制为背景，讨论了几个研究领域。讨论的问题是普遍感兴趣的，并不局限于用于激励的特定手段。

This proposal is for the continuation of research begun under Grant ECS-8505645 and is concerned with the development of theory and computer aided design algorithms for application of l1-optimization theory to the design of digital controllers for nonlinear systems. The current status of l1-optimal control is briefly reviewed and several areas of research are discussed in the context of control of a robotic manipulator. The problems discussed are of general interest and are not restricted to the particular device used for motivation.