Related papers: Pole-placement in higher-order sliding-mode contro…
A typical system of k difference (or differential) equations can be compressed, or folded into a difference (or ordinary differential) equation of order k. Such foldings appear in control theory as the canonical forms of the controllability…
We address the problem of robust safety control design for double integrator systems. We show that, when the constraints are defined only on position states, it is possible to construct a safe sliding domain from the dynamic of a simple…
Reliable controllers with high flexibility and performance are necessary for the control of intricate, advanced, and expensive systems such as aircraft, marine vessels, automotive vehicles, and satellites. Meanwhile, control allocation has…
This paper proposes a robust control method based on sliding mode design for two-level quantum systems with bounded uncertainties. An eigenstate of the two-level quantum system is identified as a sliding mode. The objective is to design a…
We reformulate dimensional regularization as a regularization method in position space and show that it can be used to give a closed expression for the renormalized time-ordered products as solutions to the induction scheme of…
Oscillator and Coulomb systems on N-dimensional spaces of constant curvature can be generalized by replacing their angular degrees of freedom with a compact integrable (N-1)-dimensional system. We present the action-angle formulation of…
This paper derives new formulations for designing dominant pole placement based proportional-integral-derivative (PID) controllers to handle second order processes with time delays (SOPTD). Previously, similar attempts have been made for…
We consider discrete ensembles of linear, scalar control systems with single-inputs. Assuming that all the individual systems are unstable, we investigate whether there exist linear feedback control laws that can asymptotically stabilize…
The position-based dynamics (PBD) algorithm is a popular and versatile technique for real-time simulation of deformable bodies, but is only applicable to forces that can be expressed as linearly compliant constraints. In this work, we…
Two coupled two-level systems placed under external time-dependent magnetic fields are modeled by a general Hamiltonian endowed with a symmetry that enables us to reduce the total dynamics into two independent two-dimensional sub-dynamics.…
We propose a polynomial force-motion model for planar sliding. The set of generalized friction loads is the 1-sublevel set of a polynomial whose gradient directions correspond to generalized velocities. Additionally, the polynomial is…
The purpose of this paper is to generalize the self-duality equation by Tchrakian and Corrigan et. al.. Novel generalized self-duality equations on higher-dimensional spaces are discussed. This class of equations includes the usual…
This paper presents a novel position control strategy for a single-link flexible manipulator, tailored for applications where precise position must be achieved within strict time constraints. To accomplish this objective, firstly, a nested…
The factorization technique for superintegrable Hamiltonian systems is revisited and applied in order to obtain additional (higher-order) constants of the motion. In particular, the factorization approach to the classical anisotropic…
We propose an arbitrarily higher (even) order implicit leapfrog scheme for time discretization of a three-field formulation of Maxwell's equations. We use this in conjunction with an arbitrarily higher-order and compatible discretization…
A method to compute guaranteed lower bounds to the eigenvalues of the Maxwell system in two or three space dimensions is proposed as a generalization of the method of Liu and Oishi [SIAM J. Numer. Anal., 51, 2013] for the Laplace operator.…
In the context of Galerkin discretizations of a partial differential equation (PDE), the modes of the classical method of Proper Orthogonal Decomposition (POD) can be interpreted as the ansatz and trial functions of a low-dimensional…
We propose a data-driven method for controlling the frequency and convergence rate of black-box nonlinear dynamical systems based on the Koopman operator theory. With the proposed method, a policy network is trained such that the…
We investigate some properties of a first-order polynomial formulation of the U(1) non-linear sigma-model in two Euclidean dimensions. The variables in this description are a 1-form field plus a 0-form Lagrange multiplier field. The usual…
The purpose of this work is the development of space-time discretization schemes for phase-field optimal control problems. First, a time discretization of the forward problem is derived using a discontinuous Galerkin formulation. Here, a…