Related papers: Robust Output Regulation of Linear Passive Systems…
Impedance control is a well-established technique to control interaction forces in robotics. However, real implementations of impedance control with an inner loop may suffer from several limitations. Although common practice in designing…
Differential sensitivity techniques originally developed to study the robustness of energy landscape controllers are generalized to the important case of closed quantum systems subject to continuously varying controls. Vanishing sensitivity…
This paper proposes a robust control design method using reinforcement-learning for controlling partially-unknown dynamical systems under uncertain conditions. The method extends the optimal reinforcement-learning algorithm with a new…
Robust data-driven controllers typically rely on datasets from previous experiments, which embed information on the variability of the system parameters across past operational conditions. Complementarily, data collected online can…
This paper studies a fundamental relation that exists between stabilizability assumptions usually employed in distributed model predictive control implementations, and the corresponding notions of invariance implicit in such controllers.…
Well-designed current control is a key factor in ensuring the efficient and safe operation of modular multilevel converters (MMCs). Even though this control problem involves multiple control objectives, conventional current control schemes…
We study a type of port-Hamiltonian system, in which the controller or disturbance is not applied to the flow variables, but to the systems power, a scenario that appears in many practical applications. A suitable framework is provided to…
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…
We construct two error feedback controllers for robust output tracking and disturbance rejection of a regular linear system with nonsmooth reference and disturbance signals. We show that for sufficiently smooth signals the output converges…
In this paper, we are concerned with the reliability assessment of redundant multi-channel systems having multiple controllers with overlapping functionality -- where all controllers are required to respond optimally to the non-faulty…
A robust model predictive control (MPC) method is presented for linear, time-invariant systems affected by bounded additive disturbances. The main contribution is the offline design of a disturbance-affine feedback gain whereby the…
Stability of power networks is an increasingly important topic because of the high penetration of renewable distributed generation units. This requires the development of advanced (typically model-based) techniques for the analysis and…
Steady state multiplicity can occur in nonlinear systems, and this presents challenges to feedback control. Input multiplicity arises when the same steady state output values can be reached with system inputs at different values. Dynamic…
The design of controllers from data for nonlinear systems is a challenging problem. In a recent paper, De Persis, Rotulo and Tesi, "Learning controllers from data via approximate nonlinearity cancellation," IEEE Transactions on Automatic…
This paper presents a robust data-driven controller design based on the noisy input-output data without assumptions on the statistical properties of the noises. We start with the direct data-representation of system models that take…
We study synchronization of nonlinear systems that satisfy an incremental passivity property. We consider the case where the control input is subject to a class of disturbances, including constant and sinusoidal disturbances with unknown…
This paper deals with the output regulation problem of a linear time-invariant system in the presence of sporadically available measurement streams. A regulator with a continuous intersample injection term is proposed, where the intersample…
Boundary feedback control design is studied for 1D hyperbolic systems with an in-domain disturbance and a boundary feedback controller under the effect of actuator saturation. Nonlinear semigroup theory is used to prove well-posedness of…
This paper investigates the problem of optimal frequency regulation of multi-machine power networks where each synchronous machine is described by a sixth order model. By analyzing the physical energy stored in the network and the…
This paper proposes an approach to addresses the control challenges posed by a fault-induced uncertainty in both the dynamics and control input effectiveness of a class of hierarchical nonlinear systems in which the high-level dynamics is…