Related papers: Control of nonlinear systems: a model inversion ap…
We study tracking control for uncertain nonlinear multi-input, multi-output systems modelled by $r$-th order functional differential equations (encompassing systems with arbitrary strict relative degree) in the presence of input…
The note focuses on the differential geometric approach to the study of nonlinear systems that are affine in control. We first develop normal forms for nonlinear system affine in control. Based on these normal forms, we then address the…
Control of complex processes is a major goal of network analyses. Most approaches to control nonlinearly coupled systems require the network topology and/or network dynamics. Unfortunately, neither the full set of participating nodes nor…
The robust disturbance rejection controller has been the subject of intensive research due to its undeniable importance for automation. Modern control theory tends to use model-based approaches versus model-free approaches, especially when…
In this paper, a novel adaptive tuning method of PID neural network (PIDNN) controller for nonlinear process is proposed. The method utilizes an improved gradient descent method to adjust PIDNN parameters where the margin stability will be…
This paper shows how the theory of adaptive observers can be effectively used in the design internal models for nonlinear output regulation. The main result obtained in this way is a new method for the synthesis of adaptive internal models…
This note aims to provide a systematic investigation of direct data-driven control, enriching the existing literature not by adding another isolated result, but rather by offering a unifying, versatile, and broad framework that enables the…
This paper presents a kernelized offset-free data-driven predictive control scheme for nonlinear systems. Traditional model-based and data-driven predictive controllers often struggle with inaccurate predictors or persistent disturbances,…
Feedforward controllers typically rely on accurately identified inverse models of the system dynamics to achieve high reference tracking performance. However, the impact of the (inverse) model identification error on the resulting tracking…
This paper proposes a novel control framework for handling (potentially coupled) multiple time-varying output constraints for uncertain nonlinear systems. First, it is shown that the satisfaction of multiple output constraints boils down to…
We propose and demonstrate a nonlinear control method that can be applied to unknown, complex systems where the controller is based on a type of artificial neural network known as a reservoir computer. In contrast to many modern…
In this paper, a model reference adaptive control architecture is proposed for uncertain nonlinear systems to achieve prescribed performance guarantees. Specifically, a general nonlinear reference model system is considered that captures an…
We propose a data-driven control design method for nonlinear systems that builds on kernel-based interpolation. Under some assumptions on the system dynamics, kernel-based functions are built from data and a model of the system, along with…
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…
We present an algorithm of control synthesis for nonlinear switched systems, based on an existing procedure of state-space bisection and made available for nonlinear systems with the help of validated simulation. The use of validated…
The problem of inverting a system in presence of a series-defined output is analyzed. Inverse models are derived that consist of a set of algebraic equations. The inversion is performed explicitly for an output trajectory functional, which…
This manuscript contains technical details of recent results developed by the authors on the algorithm for direct design of controllers for nonlinear systems from data that has the ability to to automatically modify some of the tuning…
It is well-known that the controllability of finite-dimensional nonlinear systems can be established by showing the controllability of the linearized system. However, this classical result does not generalize to infinite-dimensional…
This manuscript contains technical details and proofs of recent results developed by the authors, pertaining to the design of nonlinear controllers from the experimental data measured on an existing feedback control system.
The paper deals with the control and regulation by integral controllers forthe nonlinear systems governed by scalar quasi-linear hyperbolic partial differentialequations. Both the control input and the measured output are located on the…