Related papers: Observer design for systems with an energy-preserv…
This paper proposes local exponential observers for systems on linear Lie groups. We study two different classes of systems. In the first class, the full state of the system evolves on a linear Lie group and is available for measurement. In…
Aghannan and Rouchon proposed a new design method of asymptotic observers for a class of nonlinear mechanical systems: Lagrangian systems with configuration (position) measurements. The observer is based on the Riemannian structure of the…
In this paper, existence conditions and a design procedure of reduced-order switched positive observers for continuous- and discrete-time switched positive linear systems with uncertainty are established. In the analyzed class, arbitrary…
These notes derive a number of technical results on nonlinear contraction theory, a comparatively recent tool for system stability analysis. In particular, they provide new results on the preservation of contraction through system…
We introduce an algorithm which, in the context of nonlinear regression on vector-valued explanatory variables, chooses those combinations of vector components that provide best prediction. The algorithm devotes particular attention to…
In this paper we develop a method for learning nonlinear systems with multiple outputs and inputs. We begin by modelling the errors of a nominal predictor of the system using a latent variable framework. Then using the maximum likelihood…
High-gain nonlinear observers occur in the nonlinear automatic control theory and are in standard usage in chemical engineering processes. We apply such a type of analysis in the context of a very simple one-gene regulation circuit. In…
This paper develops a connection between the asymptotic stability of nonlinear filters and a notion of observability. We consider a general class of hidden Markov models in continuous time with compact signal state space, and call such a…
This paper proposes a nonlinear policy architecture for control of partially-observed linear dynamical systems providing built-in closed-loop stability guarantees. The policy is based on a nonlinear version of the Youla parameterization,…
In a recent paper we have shown that data collected from linear systems excited by persistently exciting inputs during low-complexity experiments, can be used to design state- and output-feedback controllers, including optimal Linear…
This paper presents a data-driven approach for designing state observers for continuous-time nonlinear systems, where an extended dynamic mode decomposition (EDMD) procedure is used to identify an approximate linear lifted model. Since such…
Block-oriented nonlinear models are popular in nonlinear system identification because of their advantages of being simple to understand and easy to use. Many different identification approaches were developed over the years to estimate the…
In this paper we show that it is possible to retrieve structural information about complex block-oriented nonlinear systems, starting from linear approximations of the nonlinear system around different setpoints.The key idea is to monitor…
We derive sufficient conditions for the solvability of the state estimation problem for a class of nonlinear control time-varying systems which includes those, whose dynamics have triangular structure. The state estimation is exhibited by…
An observer-based boundary controller for infinite-dimensional port-Hamiltonian systems defined on 1D spatial domains is proposed. The design is based on an early-lumping approach in which a finite-dimensional approximation of the…
Straight lines are common features in human made environments, which makes them a frequently explored feature for control applications. Many control schemes, like Visual Servoing, require the 3D parameters of the features to be estimated.…
In computational inverse problems, the optimal experimental design (OED) problem seeks the best locations in time and space at which to take measurements. We investigate the nonlinear OED problem in the context of continuously-indexed…
Designing observers for linear systems with both known and unknown inputs is an important problem in several research contexts, for example, fault diagnosis and fault-tolerant control, and cyber-secure control systems, and presents…
We introduce the concept of a control contraction metric, extending contraction analysis to constructive nonlinear control design. We derive sufficient conditions for exponential stabilizability of all trajectories of a nonlinear control…
In adaptive control, a controller is precisely designed for a certain model of the system, but that model's parameters are updated online by another mechanism called the adaptive update. This allows the controller to aim for the benefits of…