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This paper investigates the optimal co-design of logical and continuous controls for switched linear systems governed by controlled logical switching dynamics. Unlike traditional switched systems with arbitrary or state-dependent switching,…

Deep reinforcement learning approaches are becoming appealing for the design of nonlinear controllers for voltage control problems, but the lack of stability guarantees hinders their deployment in real-world scenarios. This paper constructs…

Controlling hybrid systems is mostly very challenging due to the variety of dynamics these systems can exhibit. Inspired by the concept of differential flatness of nonlinear continuous systems and their inherent invertibility property, the…

For certain industrial control applications an explicit function capturing the nontrivial trade-off between competing objectives in closed loop performance is not available. In such scenarios it is common practice to use the human innate…

This paper presents a learning-based control strategy for non-linear throttle valves with an asymmetric hysteresis, leading to a near-optimal controller without requiring any prior knowledge about the environment. We start with a carefully…

This paper considers a class of bilinear systems with a neural network in the loop. These arise naturally when employing machine learning techniques to approximate general, non-affine in the input, control systems. We propose a controller…

For at least fifty years, the inverted pendulum has been the most popular benchmark, among others, for teaching and researches in control theory and robotics. This paper presents the key motivations for the use of that system and explains,…

A common theme in all the above areas is designing a dynamical system to accomplish desired objectives, possibly in some predefined optimal way. Since control theory advances the idea of suitably modifying the behavior of a dynamical…

This paper presents a general framework for the design of linear controllers for linear systems subject to time-domain constraints. The design framework exploits sums-of-squares techniques to incorporate the time-domain constraints on…

This paper studies the design of feedback controllers to steer a switching linear time-invariant dynamical system towards the solution trajectory of a time-varying convex optimization problem. We propose two types of controllers: (i) a…

This study presents a transformer-based approach for fault-tolerant control in fixed-wing Unmanned Aerial Vehicles (UAVs), designed to adapt in real time to dynamic changes caused by structural damage or actuator failures. Unlike…

The main goal of this contribution is to explain how to use interlacing techniques for LTI controllers implementation and analyze different struc- tures in this environment. These considerations lead to an important com- putation saving in…

This paper studies the data-driven control of unknown linear-threshold network dynamics to stabilize the state to a reference value. We consider two types of controllers: (i) a state feedback controller with feed-forward reference input and…

This work proposes a two-layered control scheme for constrained nonlinear systems represented by a class of recurrent neural networks and affected by additive disturbances. In particular, a base controller ensures global or regional…

A controller synthesis method for state- and input-constrained nonlinear systems is presented that seeks continuous piecewise affine (CPA) Lyapunov-like functions and controllers simultaneously. Non-convex optimization problems are…

A classical approach to design controllers for interconnected systems is to assume that the different subsystems operate at different time scales, then design simpler controllers within each time scale, and finally certify stability of the…

In this paper, we propose several set-point control schemes for achieving finite-time regulation in a class of Euler--Lagrange systems with $n$ degrees of freedom and uncertain potential energy. The proposed controllers are based on…

This paper presents advances towards the data-based control of periodic oscillator flows, from their fully-developed regime to their equilibrium stabilized in closed-loop, with linear time-invariant (LTI) controllers. The proposed approach…

We develop a predictor-feedback control design for a class of linear systems with state-dependent switching. The main ingredient of our design is a novel construction of an exact predictor state. Such a construction is possible as for a…

This paper develops a control approach with correctness guarantees for the simultaneous operation of lane keeping and adaptive cruise control. The safety specifications for these driver assistance modules are expressed in terms of set…