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This manuscript aims to develop and describe gain scheduling control concept for a gas turbine engine which drives a variable pitch propeller. An architecture for gain-scheduling control is developed that controls the turboshaft engine for…
Deep learning has had a far reaching impact in robotics. Specifically, deep reinforcement learning algorithms have been highly effective in synthesizing neural-network controllers for a wide range of tasks. However, despite this empirical…
By computing Lyapunov functions of a certain, convenient structure, Lyapunov-based methods guarantee stability properties of the system or, when performing synthesis, of the relevant closed-loop or error dynamics. In doing so, they provide…
We present the stability analysis for the new regulation-triggered approach to adaptive control introduced in a companion paper. Due to the fact that the closed-loop system is hybrid, our proofs have essential differences from the…
This paper presents a method to verify closed-loop properties of optimization-based controllers for deterministic and stochastic constrained polynomial discrete-time dynamical systems. The closed-loop properties amenable to the proposed…
In this paper, the stability and stabilization problem of positive nonlinear systems, described by the Takagi-Sugeno discrete-time fuzzy model, is studied. The proposed approach is based on the linear co-positive Lyapunov function and…
Robust stabilization conditions for uncertain switched affine systems subject to a unitary input delay are presented. They are obtained through the Lyapunov framework and a min-switching state-feedback predictive control law. The result…
Firstly, a new state feedback model reference adaptive control approach is developed for uncertain systems with gain scheduled reference models in a multi-input multi-output (MIMO) setting. Specifically, adaptive state feedback for output…
We propose a counter-example guided inductive synthesis (CEGIS) scheme for the design of control Lyapunov functions and associated state-feedback controllers for linear systems affected by parametric uncertainty with arbitrary shape. In the…
This paper investigates the frequency control of multi-machine power systems subject to uncertain and dynamic net loads. We propose distributed internal model controllers that coordinate synchronous generators and demand response to tackle…
Data-based safe gain-scheduling controllers are presented for discrete-time linear parameter-varying systems (LPV) with polytopic models. First, $\lambda$-contractivity conditions are provided under which safety and stability of the LPV…
This paper studies the use of vector Lyapunov functions for the design of globally stabilizing feedback laws for nonlinear systems. Recent results on vector Lyapunov functions are utilized. The main result of the paper shows that the…
Switched systems are known to exhibit subtle (in)stability behaviors requiring system designers to carefully analyze the stability of closed-loop systems that arise from their proposed switching control laws. This paper presents a formal…
Finding Lyapunov functions to certify the stability of control systems has been an important topic for verifying safety-critical systems. Most existing methods on finding Lyapunov functions require access to the dynamics of the system.…
This paper presents a method to design a min-norm Control Lyapunov Function (CLF)-based stabilizing controller for a control-affine system with uncertain dynamics using Gaussian Process (GP) regression. In order to estimate both state and…
This paper presents a linear-programming based algorithm to perform data-driven stabilizing control of linear positive systems. A set of state-input-transition observations is collected up to magnitude-bounded noise. A state feedback…
This work presents several improvements to the closed-loop stability verification framework using semialgebraic sets and convex semidefinite programming to examine neural-network-based control systems regulating nonlinear dynamical systems.…
There are recent shifts in demand for design controllers from simplified to complex model-based. Although simplification approaches are successful in many areas of engineering control systems, high-fidelity simulation-based control design,…
The stabilization of uncertain LTI/LPV time delay systems with time varying delays by state-feedback controllers is addressed. At the difference of other works in the literature, the proposed approach allows for the synthesis of resilient…
This paper proposes a dynamic quantum-assisted co-design framework for nonlinear closed-loop systems in which controller parameters and Lyapunov-certificate parameters are redesigned jointly at successive decision epochs. Unlike…