Related papers: Method for Undershoot-Less Control of Non-Minimum …
In this paper we propose a new design paradigm, which employing a postprocessing internal model unit, to approach the problem of output regulation for a class of multivariable minimum-phase nonlinear systems possessing a partial normal…
This paper is about the nonlinear local error feedback regulator problem. The plant is a nonlinear finite-dimensional system with a single control input and a single output and it is locally exponentially stable around the origin. The plant…
In this paper, we propose a framework for output tracking control of both minimum phase (MP) and non-minimum phase (NMP) systems {as well as systems with transmission zeros on the unit circle}. Towards this end, we first address the problem…
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…
In this paper, we propose a suboptimal and reduced-order Model Predictive Control (MPC) architecture for discrete-time feedback-interconnected systems. The numerical MPC solver: (i) acts suboptimally, performing only a finite number of…
We study control of synchronization in weakly coupled oscillator networks by using a phase reduction approach. Starting from a general class of limit cycle oscillators we derive a phase model, which shows that delayed feedback control…
This paper introduces a framework for learning a minimum-norm stabilizing controller for a system with unknown dynamics using model-free policy optimization methods. The approach begins by first designing a Control Lyapunov Function (CLF)…
In this paper, we consider the pole-zero assignment problem for vibratory systems via multi-input feedback control. We propose a multi-step two-stage approach for solving the multi-input pole-zero assignment problem. We first reformulate…
This paper presents a novel, Fourier series based numerical method of open-loop control optimization. Due to its flexible assumptions, it can be applied in a large variety of systems, including discontinuous ones or even so-called black…
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…
We present a novel approach to enhancing the bandwidth of a feedback-controlled mechanical system by digitally canceling acoustical resonances (poles) and anti-resonances (zeros) in the open-loop response via an FPGA FIR filter. By…
We present an application of equation-free computation to the coarse-grained feedback linearization problem of nonlinear systems described by microscopic/stochastic simulators. Feedback linearization with pole placement requires the…
In this paper, we present an impedance control design for multi-variable linear and nonlinear robotic systems. The control design considers force and state feedback to improve the performance of the closed loop. Simultaneous feedback of…
Underactuated systems pose the challenge of being able to control a plant whose degrees of freedom are not necessarily directly linked to an actuator or where such a relationship is not straightforward. Rotary inverted pendulum is an…
The paper explains iterative and non-iterative approaches to control optimization with use of the Fourier series-based method. Both variants of the presented algorithm are used to numerically approximate optimal control of a discontinuous…
We present a minimal control-based continuation algorithm designed to track branches of limit cycles in autonomous systems. The controller can be viewed as three sub-controllers: (i) a derivative feedback controller that is used to…
The positions of poles and zeros of a filter circuit indicates how the system behaves with variation in frequency as well as it results a tool to utilize the system gain by setting the frequency range in a complex process. The existing…
We consider low-order controller design for large-scale linear time-invariant dynamical systems with inputs and outputs. Model order reduction is a popular technique, but controllers designed for reduced-order models may result in unstable…
We present a novel approach to control design for nonlinear systems which leverages model-free policy optimization techniques to learn a linearizing controller for a physical plant with unknown dynamics. Feedback linearization is a…
In this article, we present data-driven feedback linearization for nonlinear systems with periodic orbits in the zero-dynamics. This scenario is challenging for data-driven control design because the higher order terms of the internal…