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Proportional-Integral-Derivative (PID) control has been the workhorse of control technology for about a century. Yet to this day, designing and tuning PID controllers relies mostly on either tabulated rules (Ziegler-Nichols) or on classical…
This paper presents the design and robustness analysis of fractional and integer order PID controllers for the control of a non-linear industrial process in the presence of parametric uncertainness and external disturbances. The nonlinear…
This article presents proposals for the design of reduced-order controllers for high-dimensional dynamical systems. The objective is to develop efficient control strategies that ensure stability and robustness with reduced computational…
Model agnostic controller learning, for instance by direct policy optimization, has been the object of renewed attention lately, since it avoids a computationally expensive system identification step. Indeed, direct policy search has been…
This paper deals with designing a robust fixed-order dynamic output feedback controller for uncertain fractional order linear time invariant (FO-LTI) systems by means of linear matrix inequalities (LMIs). Our purpose is to design a low…
Safe derivative-free optimization under unknown constraints is a fundamental challenge in modern learning and control. Existing zeroth-order (ZO) methods typically still assume access to a first-order oracle of the constraint functions or…
This paper is concerned with the stabilization problem of singular fractional order systems with order $\alpha\in(0,2)$. In addition to the sufficient and necessary condition for observer based control, a sufficient and necessary condition…
According to the well-known loop shaping method for the design of controllers, the performance of the controllers in terms of step response, steady-state disturbance rejection and noise attenuation and robustness can be improved by…
This paper investigates the robust stabilisation of a class of fractional-order non-linear systems via fixed-order dynamic output feedback controller in terms of linear matrix inequalities (LMIs). The systematic stabilisation algorithm…
This paper deals with feedback control of fractional-order Chua's system. The fractional-order Chua's system with total order less than three which exhibit chaos as well as other nonlinear behavior and theory for control of chaotic systems…
We generalize notions of passivity and dissipativity to fractional order systems. Similar to integer order systems, we show that the proposed definitions generate analogous stability and compositionality properties for fractional order…
We consider tracking control for uncertain linear systems with known relative degree which are possibly non-minimum phase, i.e., their zero dynamics may have an unstable part. For a given sufficiently smooth reference signal we design a…
We consider a robust stabilization of the fourth-order oscillatory systems with non-collocated output sensing. Worth recalling is that the fourth-order systems are relatively common in mechatronics as soon as there are two-mass or more…
We propose a framework for inversion-based estimation of certain categories of faults in discrete-time linear systems. The fault signal, as an unknown input, is reconstructed from its projections onto two subspaces. One projection is…
Feedback Linearisation (FBL) is a widely used technique that applies feedback laws to transform input-affine nonlinear control systems into linear control systems, allowing for the use of linear controller design methods such as pole…
We examine robust output feedback control of discrete-time nonlinear systems with bounded uncertainties affecting the dynamics and measurements. Specifically, we demonstrate how to construct semi-infinite programs that produce gains to…
This paper deals with the output feedback stabilization problem of nonlinear multi-input multi-output systems having an uncertain input gain matrix. It is assumed that the system has a well-defined vector relative degree and that the zero…
This study presents two analytical closed-form PI controller tuning solutions for second-order plants with real poles, each achieving monotonic step response and minimum settling time. The first solution employs pole-zero cancellation,…
This brief presents a simple derivation of the standard model-free control for the non-minimum phase systems. The robustness of the proposed method is studied in simulation considering the case of switched systems.
We introduce a method to deal with the data-driven control design of nonlinear systems. We derive conditions to design controllers via (approximate) nonlinearity cancellation. These conditions take the compact form of data-dependent…