Related papers: Passivity Degradation In Discrete Control Implemen…
This paper studies the performance of a continuous controller when implemented on digital devices via sampling and quantization, by leveraging passivity analysis. Degradation of passivity indices from a continuous-time control system to its…
Passivity theory has recently contributed to developing decentralized control schemes for large-scale systems. Many decentralized passivity-based control schemes are designed in continuous-time. It is well-known, however, that the passivity…
This paper presents an analysis of the passivity condition for discrete-time bilateral teleoperation systems. Considering discrete-time controllers for a master-slave teleoperation system can simplify its implementation. Varieties of…
This work focuses on the invariance of important properties between continuous and discrete models of systems which can be useful in the control design of large-scale systems and their software implementations. In particular, this paper…
In this paper, we explore the discrete time sparse feedback control for a linear invariant system, where the proposed optimal feedback controller enjoys input sparsity by using a dynamic linear compensator, i.e., the components of feedback…
The use of multivalued controls derived from a special maximal monotone operator are studied in this note. Starting with a strictly passive linear system (with possible parametric uncertainty and external disturbances) a multivalued control…
This paper presents a discrete-time passivity-based analysis of the gradient descent method for a class of functions with sector-bounded gradients. Using a loop transformation, it is shown that the gradient descent method can be interpreted…
This note addresses the output synchronization problem of incrementally output-feedback passive nonlinear systems in the presence of exogenous disturbances. Two kinds of distributed controllers are proposed; one placed at the nodes and the…
In this paper we explore the stabilization of closed invariant sets for passive systems, and present conditions under which a passivity-based feedback asymptotically stabilizes the goal set. Our results rely on novel reduction principles…
Given one open-loop measured trajectory of a single-input single-output discrete-time linear time-invariant system, we present a framework for data-driven controller design for closed-loop finite-horizon dissipativity. First, we parametrize…
This paper provides a constructive passivity-based control approach to solve the set-point regulation problem for input-affine continuous nonlinear systems while considering saturation in the inputs. As customarily in passivity-based…
We propose a control approach for a class of nonlinear mechanical systems to stabilize the system under study while ensuring that the oscillations of the transient response are reduced. The approach is twofold: (i) we apply our technique…
Dynamical systems can be used to model a broad class of physical processes, and conservation laws give rise to system properties like passivity or port-Hamiltonian structure. An important problem in practical applications is to steer…
We introduce the family of limited model information control design methods, which construct controllers by accessing the plant's model in a constrained way, according to a given design graph. We investigate the closed-loop performance…
We will show that there is a universal connection between the achievable closed-loop dynamics and the corresponding feedback controller that produces it. This connection shows promise to lead to new methods for robust nonlinear control in…
Digital controller design for nonlinear systems may be complicated by the fact that an exact discrete-time plant model is not known. One existing approach employs approximate discrete-time models for stability analysis and control design,…
In the last few years there has been a growing interest in the use of symbolic models for the formal verification and control design of purely continuous or hybrid systems. Symbolic models are abstract descriptions of continuous systems…
The stabilization of unstable nonlinear systems and tracking control are challenging engineering problems due to the encompassed nonlinearities in dynamic systems and their scale. In the past decades, numerous observer-based control designs…
We study the stability properties of a control system composed of a dynamical plant and a feedback controller, the latter generating control signals that can be compromised by a malicious attacker. We consider two classes of feedback…
We study the stability of coupled impedance passive regular linear systems under power-preserving interconnections. We present new conditions for strong, exponential, and non-uniform stability of the closed-loop system. We apply the…