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This paper presents a control centric modeling and analysis approach along with a nonlinear control design for a class of switching power converters. A comprehensive model combining the respective state variable models of the interval subsystems is established. Comparison with PSpice simulation justifies the credibility of the model. Based on this model, internal/BIBO stability can be studied for each interval subsystem. Moreover, controllability and observability can also be analyzed to help determining subsequent control configuration. The established model is further investigated for advanced control design, i.e., robust adaptive fuzzy control.

A design of the sliding surfaces for the position tracking control problem for two-link robot manipulator based on the Lyapunov stability theorem, the back stepping control (BC) and the sliding mode control (SMC) is addressed. By applying the adaptive technique in the design of the sliding surface, the property of asymptotical stability can be achieved and the perturbations can be suppressed when the system is in the sliding mode. The robust tracking performance will be demonstrated in the simulation.

The parallel robots have attracted many researchersi¦ attention for its great potential in high speed pick-and-place operation. In this paper, a short description about the development and construction of parallel robot in Metal Industries Research and Development Centre, Taiwan, is introduced. A concept for the development is depicted as well as the kinematics. An embedded system utilized to control the robot manipulator was also represented. In future, a visual system may be integrated into the system for a wide application in industries.