Related papers: A Model Study of an All-Digital, Discrete-Time and…
This work studies data-driven switched controller design for discrete-time switched linear systems. Instead of having access to the full system dynamics, an initialization phase is performed, during which noiseless measurements of the state…
For a general class of dynamical systems (of which the canonical continuous and uniform discrete versions are but special cases), we prove that there is a state feedback gain such that the resulting closed-loop system is uniformly…
The ability to efficiently simulate a variety of interacting quantum systems on a single device is an overarching goal for digital and analog quantum simulators. In circuit quantum electrodynamical systems, strongly nonlinear…
Variational integrators are well-suited for simulation of mechanical systems because they preserve mechanical quantities about a system such as momentum, or its change if external forcing is involved, and holonomic constraints. While they…
Critical systems must be designed resilient to all kinds of malfunctions. We are especially interested by the loss of control authority over actuators. This malfunction considers actuators producing uncontrolled and possibly undesirable…
This paper is concerned with the design of optimal control for finite-dimensional control-affine nonlinear dynamical systems. We introduce an optimal control problem that specifically optimizes nonlinear observability in addition to…
Recently, it has been observed that finite impulse response controllers are an excellent basis for encrypted control, where privacy-preserving controller evaluations via special cryptosystems are the main focus. Beneficial properties of FIR…
Matrix computations have become increasingly significant in many data-driven applications. However, Moores law for digital computers has been gradually approaching its limit in recent years. Moreover, digital computers encounter substantial…
In this work, a non-linear controller designed using non-linear transformation linearization and feedback is proposed for an inverter connected to a weak grid through a single-stage inductive filter. The proposed strategy is…
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…
Research on control using models based on machine-learning methods has now shifted to the practical engineering stage. Achieving high performance and theoretically guaranteeing the safety of the system is critical for such applications. In…
We consider the problem of zeroing an error output of a nonlinear discrete-time system in the presence of constant exogenous disturbances, subject to hard convex constraints on the input signal. The design specification is formulated as a…
For an unknown linear system, starting from noisy open-loop input-state data collected during a finite-length experiment, we directly design a linear feedback controller that guarantees robust invariance of a given polyhedral set of the…
The precise motion control of a multi-degree of freedom~(DOF) robot manipulator is always challenging due to its nonlinear dynamics, disturbances, and uncertainties. Because most manipulators are controlled by digital signals, a novel…
We provide theoretical guarantees for recursive feasibility and practical exponential stability of the closed-loop system of a feedback linearizable nonlinear system when controlled by a robust data-driven nonlinear predictive control…
The Error-in-Variables model of system identification/control involves nontrivial input and measurement corruption of observed data, resulting in generically nonconvex optimization problems. This paper performs full-state-feedback…
The increasing ease of obtaining and processing data together with the growth in system complexity has sparked the interest in moving from conventional model-based control design towards data-driven concepts. Since in many engineering…
In this work, we study fast time scale dynamic interactions between inverters, synchronous machines, and transmission lines. The overlapping time scales between inverter controls and electromagnetic phenomena idfentified in recent years has…
Embedded systems are playing an increasingly important role in control engineering. Despite their popularity, embedded systems are generally subject to resource constraints and it is therefore difficult to build complex control systems on…
In this experiment, a closed-loop discrete time system for speed control of a permanent magnet DC motor with discrete PI controller is implemented in embedded platform. The design & analysis of the system is based on the mathematical model…