Related papers: Robustness of the nonlinear PI control method to i…
This paper presents an anti-windup PI controller, using a saturating integrator, for a single-input single-output stable nonlinear plant, whose steady-state input-output map is increasing. We prove that, under reasonable assumptions, there…
In real-world control applications, actuator constraints and output constraints (specifically in tracking problems) are inherent and critical to ensuring safe and reliable operation. However, generally, control strategies often neglect…
Nonlinear extension of the integral part of a standard proportional-integral-derivative (PID) feedback control is proposed for perturbed second-order systems. The approach is model-free and requires solely the Lipschitz boundedness of the…
This paper presents a novel anti-windup proportional-integral controller for stable multi-input multi-output nonlinear plants. We use tools from projected dynamical systems theory to force the integrator state to remain in a desired…
Existing results on cooperative control of multi-agent systems with unknown control directions require that the underlying topology is either fixed with a strongly connected graph or switching between different strongly connected graphs.…
As is well known, classical PID control is ubiquitous in industrial processes, yet a rigorous and explicit design theory for nonlinear uncertain MIMO second-order systems remains underdeveloped. In this paper we consider a class of such…
This paper presents the design and robustness analysis of fractional and integer order PID controllers for the control of a non-linear industrial process in the presence of parametric uncertainness and external disturbances. The nonlinear…
Robustness is a basic property of any control system. In the context of linear output regulation, it was proved that embedding an internal model of the exogenous signals is necessary and sufficient to achieve tracking of the desired…
For a partially unknown linear systems, we present a systematic control design approach based on generated data from measurements of closed-loop experiments with suitable test controllers. These experiments are used to improve the achieved…
In this paper we address the problem of tracking control of nonlinear systems via contraction analysis. The necessary conditions of the systems which can achieve universal asymptotic tracking are studied under several different cases. We…
We present a novel robust control framework for continuous-time, perturbed nonlinear dynamical systems with uncertainty that depends nonlinearly on both the state and control inputs. Unlike conventional approaches that impose structural…
In this article, we focus on the global stabilizability problem for a class of second order uncertain stochastic control systems, where both the drift term and the diffusion term are nonlinear functions of the state variables and the…
Since the classical proportional-integral-derivative (PID) controller is the most widely and successfully used ones in industrial processes, it is of vital importance to investigate theoretically the rationale of this ubiquitous controller…
This paper presents a novel robust trajectory optimization method for constrained nonlinear dynamical systems subject to unknown bounded disturbances. In particular, we seek optimal control policies that remain robustly feasible with…
The development of efficient and robust dynamic models is fundamental in the field of systems and control engineering. In this paper, a new formulation for the dynamic model of nonlinear mechanical systems, that can be applied to different…
This paper analyzes distributed control protocols for first- and second-order networked dynamical systems. We propose a class of nonlinear consensus controllers where the input of each agent can be written as a product of a nonlinear gain,…
This paper concerns control of a class of systems where multiple dynamically stable agents share a nonlinear and bounded control-interconnection. The agents are subject to a disturbance which is too large to reject with the available…
This paper addresses the problem of tracking control for an unknown nonlinear system with time-varying bounded disturbance subjected to prescribed Performance and Input Constraints (PIC). Since simultaneous prescription of PIC involves a…
This paper presents a systematic approach for designing robust linear proportional-integral (PI) servo-controllers that effectively manage control input and output constraints in flight control systems. The control design leverages the…
We examine robust output feedback control of discrete-time nonlinear systems with bounded uncertainties affecting the dynamics and measurements. Specifically, we demonstrate how to construct semi-infinite programs that produce gains to…