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Optimization with preference feedback is an active research area with many applications in engineering systems where humans play a central role, such as building control and autonomous vehicles. While most existing studies focus on…
The paper provides results for the application of boundary feedback control with Zero-Order-Hold (ZOH) to 1-D linear, first-order, hyperbolic systems with non-local terms on bounded domains. It is shown that the emulation design based on…
In this work, it is demonstrated that the usual power system dynamic model exhibits a feedforward-feedback control structure. The distinct properties of the feedforward and feedback subsystems are identified and studied using respective…
Designing a static state-feedback controller subject to structural constraint achieving asymptotic stability is a relevant problem with many applications, including network decentralized control, coordinated control, and sparse feedback…
In this paper, we present a state-feedback controller design method for bilinear systems. To this end, we write the bilinear system as a linear fractional representation by interpreting the state in the bilinearity as a structured…
The feedback stabilization problem for ensembles of coupled spin 1/2 systems is discussed from a control theoretic perspective. The noninvasive nature of the bulk measurement allows for a fully unitary and deterministic closed loop. The…
Recent development of contraction theory based analysis of singularly perturbed system has opened the door for inspecting differential behavior of multi time-scale systems. In this paper a contraction theory based framework is proposed for…
This note proposes a data-driven output-feedback stabilizing policy iteration for unknown linear discrete-time systems with unmeasurable states. Existing policy iteration methods for optimal control must start from a stabilizing control…
We develop a switched nonlinear predictor-feedback control law to achieve global asymptotic stabilization for nonlinear systems with arbitrarily long input delay, under state quantization. The proposed design generalizes the nonlinear…
This paper investigates the decentralized stabilization problem for a class of interconnected systems in the presence of non-triangular structural uncertainties and time-varying parameters, where each subsystem exchanges information only…
This paper aims at coordinating interconnected agents where the control input of each agent is limited by the control input of others. In that sense, the systems have to share a limited resource over a network. Such problems can arise in…
This article is concerned with the internal feedback stabilization of the phase field system of Cahn-Hilliard type, modeling the phase separation in a binary mixture. Under suitable assumptions on an arbitrarily fixed stationary solution,…
This paper investigates the stabilization of a coupled system comprising a parabolic PDE and an elliptic PDE with nonlinear terms. A rigorous backstepping design provides an explicit boundary control law and exponentially convergent…
This paper considers the backstepping state feedback and observer design for hyperbolic and parabolic PDEs, which are bidirectionally interconnected in a general coupling structure. Both PDE subsystems consist of coupled scalar PDEs with…
Feedback stabilization of an ensemble of non interacting half spins described by Bloch equations is considered. This system may be seen as a prototype for infinite dimensional systems with continuous spectrum. We propose an explicit…
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…
The theory of controlled mechanical systems of [6, 3, 4] is extended to the case of ideal incompressible fluids consisting of charged particles in the presence of an external magnetic field. The resulting control is of feedback type and…
A common approach in robotics is to learn tasks by generalizing from special cases given by a so-called demonstrator. In this paper, we apply this paradigm and present an algorithm that uses a demonstrator (typically given by a trajectory…
This paper presents a model-based, adaptive, nonlinear controller for the bicopter stabilization and trajectory-tracking problem. The nonlinear controller is designed using the backstepping technique. Due to the non-invertibility of 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…