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In this paper, we propose a suboptimal and reduced-order Model Predictive Control (MPC) architecture for discrete-time feedback-interconnected systems. The numerical MPC solver: (i) acts suboptimally, performing only a finite number of…
A necessary and sufficient condition, expressed simply as the DC loop gain (ie the loop gain at zero frequency) being less than unity, is given in this paper to guarantee the internal stability of a feedback interconnection of Linear…
We provide a comprehensive review and practical implementation of a recently developed model predictive control (MPC) framework for controlling unknown systems using only measured data and no explicit model knowledge. Our approach relies on…
In this paper, we analyze the stability of feedback interconnections of a linear time-invariant system with a neural network nonlinearity in discrete time. Our analysis is based on abstracting neural networks using integral quadratic…
This paper studies the informativity problem for reachability and null-controllability of constrained systems. To be precise, we will focus on an unknown linear systems with convex conic constraints from which we measure data consisting of…
The stability of linear dynamic systems with hysteresis in feedback is considered. While the absolute stability for memoryless nonlinearities (known as Lure's problem) can be proved by the well-known circle criterion, the multivalued…
For iterative learning control (ILC), one of the basic problems left to address is how to solve the contradiction between convergence conditions for the output tracking error and for the input signal (or error). This problem is considered…
This article presents input-output stability analysis of nonlinear feedback systems based on the notion of soft and hard scaled relative graphs (SRGs). The soft and hard SRGs acknowledge the distinction between incremental positivity and…
This paper presents a robust control synthesis and analysis framework for nonlinear systems with uncertain initial conditions. First, a deep learning-based lifting approach is proposed to approximate nonlinear dynamical systems with linear…
This paper studies controllability of a discrete-time linear dynamical system using nonnegative and sparse inputs. These constraints on the control input arise naturally in many real-life systems where the external influence on the system…
This study investigates the absolute stability criteria based on the framework of integral quadratic constraint (IQC) for feedback systems with slope-restricted nonlinearities. In existing works, well-known absolute stability certificates…
Negative feedback is a powerful approach capable of improving several aspects of a system. In linear electronics, it has been critical for allowing invariance to device properties. Negative feedback is also known to enhance linearity in…
We consider optimization algorithms that are open systems, that is, with external inputs and outputs. Such algorithms arise for instance, when analyzing the effect of noise or disturbance on an algorithm, or when an algorithm is part of…
We consider the problem of shaping the transient step response of nonlinear systems to satisfy a class of integral constraints. Such constraints are inherent in hybrid energy systems consisting of energy sources and storage elements. While…
In this work, we propose an output-feedback tube-based model predictive control (MPC) scheme for linear systems under dynamic uncertainties that are described via integral quadratic constraints (IQC). By leveraging IQCs, a large class of…
We investigate the property for an input-output system to map unimodal inputs to unimodal outputs. As a first step, we analyse this property for linear time-invariant (LTI) systems, static nonlinearities, and interconnections of those. In…
In the context of linear control systems, a commonly-held intuition is that negative and positive feedback cannot both be stability enhancing. The canonical linear prototype is the scalar system $\dot x=u$ which, under negative linear…
We introduce the concept of a control contraction metric, extending contraction analysis to constructive nonlinear control design. We derive sufficient conditions for exponential stabilizability of all trajectories of a nonlinear control…
This paper addresses the positive synchronization of interconnected systems on undirected graphs. For homogeneous positive systems, a static feedback protocol design is proposed, based on the Linear Regulator problem. The solution to the…
This paper addresses the qualitative theory of mixed-order positive linear coupled systems with bounded or unbounded delays. First, we introduce a general result on the existence and uniqueness of solutions to mixed-order linear coupled…