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The aim of this work is to compute a level backstepping control strategy for a coupled tanks system. The coupled tanks plant is a component included in the water treatment system of power plants. The nonlinear-model of the process was…
In this paper, the use of the Smith-McMillan form in decoupling multiple-input multiple-output system dynamics is analyzed. In short, from a transfer matrix plant model one can obtain a decoupling compensator which leads to a decoupled…
Subspace identification methods (SIMs) are known for their simple parameterization for MIMO systems and robust numerical properties. However, a comprehensive statistical analysis of SIMs remains an open problem. Following a three-step…
Power electronic devices such as HVDC and FACTS can be used to improve the damping of poorly damped inter-area modes in large power systems. This involves the use of wide-area feedback signals, which are transmitted via communication…
The properties of the boundary plasma in a tokamak are now recognized to play a key role in determining the achievable fusion power and the lifetimes of plasma-facing components. Accurate quantitative modeling and improved qualitative…
Spring-mass models are well established tools for the analysis and control of legged locomotion. Among the alternatives, spring-loaded inverted pendulum (SLIP) model has shown to be a very accurate descriptor of animal locomotion. Despite…
Simultaneous localization and Planning (SLAP) is a crucial ability for an autonomous robot operating under uncertainty. In its most general form, SLAP induces a continuous POMDP (partially-observable Markov decision process), which needs to…
In this paper, we investigate the feasibility of using subspace system identification techniques for estimating transient Structural-Thermal-Optical Performance (STOP) models of reflective optics. As a test case, we use a Newtonian…
We introduce a closed-form method for identification of discrete-time linear time-variant systems from data, formulating the learning problem as a regularized least squares problem where the regularizer favors smooth solutions within a…
We study the dynamical behavior of a single degree of freedom mechanical system with a particle damper. The particle (granular) damping was optimized for the primary system operating condition by using an appropriate gap size for a…
Physics-based simulation is essential for developing and evaluating robot manipulation policies, particularly in scenarios involving deformable objects and complex contact interactions. However, existing simulators often struggle to balance…
The dead-zone is one of the most common hard nonlinearities in industrial actuators and its presence may drastically compromise control systems stability and performance. In this work, an adaptive variable structure controller is proposed…
Using theoretical arguments, a simple scaling law for the size of the intrinsic rotation observed in tokamaks in the absence of momentum injection is found: the velocity generated in the core of a tokamak must be proportional to the ion…
The concept of cloaking -- hiding objects from external detection -- has seen wide success in linear systems. Yet, translating these advancements to nonlinear mechanical systems remains an open challenge. Here, we present a new approach to…
Accurately predicting plasma behavior based on discharge configurations is essential for the safe and efficient operation of tokamak experiments. While physics-based integrated modeling codes provide valuable insights, their high…
Quantum Lyapunov control, an important class of quantum control methods, aims at generating converging dynamics guided by Lyapunov-based theoretical tools. However, unlike the case of classical systems, disturbance caused by quantum…
For long-pulse tokamaks, one of the main challenges in control strategy is to simultaneously reach multiple control objectives and to robustly handle in real-time (RT) unexpected events (off-normal-events -- ONEs) with a limited set of…
Energy transport and confinement in tokamak fusion plasmas is usually determined by the coupled nonlinear interactions of small-scale drift turbulence and larger scale coherent nonlinear structures, such as zonal flows, together with free…
Motion planning and control are two core components of the robotic systems autonomy stack. The standard approach to combine these methodologies comprises an offline/open-loop stage, planning, that designs a feasible and safe trajectory to…
With the advent of the gyrokinetic formalism, recent developments in low-noise nonlinear $\delta f$ methods, and enormous gains in computing power, large-scale gyrokinetic simulations have become an important tool for improved understanding…