Juniper Publishers-Journal of Robotics Engineering

Juniper Publishers- Journal of Robotics Abstract The prevailing methodology in designing adaptive controllers for strongly nonlinear systems is based on Lyapunov’s PhD Thesis he defended in 1892 to study the stability of motion of systems for the solution of the equations of motion of which no closed form analytical solutions exist. The adaptive robot controllers developed in the nineties of the 20thcentury guarantee global (often asymptotic) stability of the controlled system by using his ingenious Direct Method that introduces a Lyapunov function for the behavior of which relatively simple numerical limitations have to be proved. Though for various problem classes typical Lyapunov function candidates are available, the application of this method requires far more knowledge than the implementation of some algorithm. Besides requiring creative designer’s abilities, it often requires too much because it works with satisfactory conditionsinstead of necessary and s...

Juniper Publishers- Journal of Robotics Abstract In this paper, an approach estimation of nonlinear systems in renewable energies is studied. The system can be structured by blocks-oriented. The proposed solution is more general and can be easy to implement. Keywords: Nonlinear systems; Renewable energies; Oriented blocks; Harmonics analysis Introduction In this work, nonlinear system used in renewable energies is dealt. These nonlinear systems can be described by blocks-oriented. Lately, these types of models are increasingly used practically [1-4]. Nonlinear systems estimation parameters are a necessary step in control [5-7]. The nonlinear element can be in input of system (Figure 1) or in output of system (Figure 2). If the two blocks are parametric, the determination of parameters nonlinear system can be done using quite a few solutions e.g. [1-4]. When both parts are parametric, the identification problem has...