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Robust de-centralized control and estimation for inter-connected systems

Larbah, Eshag Yousef


Eshag Yousef Larbah



The thesis is concerned with the theoretical development of the control of inter-connected systems to achieve the whole overall stability and specific performance. A special included feature is the Fault-Tolerant Control (FTC) problem for the inter-connected system in terms of local subsystem actuator fault estimation. Hence, the thesis describes the main FTC challenges of distributed control of uncertain non-linear inter-connected systems. The basic principle adopted throughout the work is that the controller has two components, one involving the nominal control with unmatched components including uncertainties and disturbances. The second controller dealing with matched components including uncertainties and actuator faults.

The main contributions of the thesis are summarised as follows:
- The non-linear inter-connected systems are controlled by two controllers. The linear part via a linear matrix inequality (LMI) technique and the discontinuous part by using Integral Sliding Mode Control (ISMC) based on state feedback control.
- The development of a new observer-based state estimate control strategy for non-linear inter-connected systems. The technique is applied either to every individual subsystem or to the whole as one shot system.
- A new proposal of Adaptive Output Integral Sliding Mode Control (AOISMC) based only on output information plus static output feedback control is designed via an LMI formulation to control non-linear inter-connected systems. The new method is verified by application to a mathematical example representing an electrical power generator.
- The development of a new method to design a dynamic control based on an LMI framework with Output Integral Sliding Mode Control (OISMC) to improve the stability and performance.
- Using the above framework, making use of LMI tools and ISMC, a method of on-line actuator fault estimation has been proposed using the Proportional Multiple Integral Observer (PMIO) for fault estimation applicable to non-linear inter-connected systems.


Larbah, E. Y. (2013). Robust de-centralized control and estimation for inter-connected systems. (Thesis). University of Hull. Retrieved from

Thesis Type Thesis
Deposit Date Nov 8, 2013
Publicly Available Date Feb 23, 2023
Keywords Engineering
Public URL
Additional Information Department of Engineering, The University of Hull
Award Date Apr 1, 2013


Thesis (6.7 Mb)

Copyright Statement
© 2013 Larbah, Eshag Yousef. All rights reserved. No part of this publication may be reproduced without the written permission of the copyright holder.

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