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Recent research has shown that supervised learning can be an effective tool for designing optimal feedback controllers for high-dimensional nonlinear dynamic systems. But the behavior of these neural network (NN) controllers is still not…
In this paper, we provide a systematic approach for the design of stabilizing feedback controllers for nonlinear control systems using the Koopman operator framework. The Koopman operator approach provides a linear representation for a…
We study the stabilization of networked control systems with asynchronous sensors and controllers. Offsets between the sensor and controller clocks are unknown and modeled as parametric uncertainty. First we consider multi-input linear…
Compared to conventional robots, flexible manipulators offer many advantages, such as faster end-effector velocities and less energy consumption. However, their flexible structure can lead to undesired oscillations. Therefore, the applied…
Intracellular biochemical networks fluctuate dynamically due to various internal and external sources of fluctuation. Dissecting the fluctuation into biologically relevant components is important for understanding how a cell controls and…
The performance of a feedforward controller is primarily determined by the extent to which it can capture the relevant dynamics of a system. The aim of this paper is to develop an input-output linear parameter-varying (LPV) feedforward…
The work show in this paper progresses through a sequence of physics-based increasing fidelity models that are used to design the robot controllers that respect the limits of the robot capabilities, develop a reference simple controller…
Closed-loop control of an amplifier flow is experimentally investigated. A feed-forward algorithm is implemented to control the flow downstream a backward-facing step. Upstream and downstream data are extracted from real-time velocity…
We study the cooling performance of optical-feedback controllers for open optical and mechanical resonators in the Linear Quadratic Gaussian setting of stochastic control theory. We utilize analysis and numerical optimization of closed-loop…
The present paper studies a feedback regulation problem, which may be interpreted as an adaptive control problem, but has not yet been studied in the control literature. The problem, which arises in at least two different biological…
In this paper, a frequency separation based adaptive feedforward control algorithm is developed with the ability to identify the plant and do compensation region by region. In this algorithm, the accelerometer signal is filtered by a series…
We consider output-feedback stabilization problems for a class of two-component linear parabolic systems with boundary actuation and measurement. The state-feedback control laws are obtained using backstepping method and require measurement…
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…
This paper presents an acoustic impedance control architecture for an electroacoustic absorber combining both a feedforward and a feedback microphone-based strategies on a current-driven loudspeaker. Feedforward systems enable good…
The presence of internal feedback pathways (IFPs) is a prevalent yet unexplained phenomenon in the brain. Motivated by experimental observations on 1) motor-related signals in visual areas, and 2) massively distributed processing in the…
Closed-loop positivity of feedback interconnections of positive monotone nonlinear systems is investigated. It is shown that an instantaneous gain condition on the open-loop systems which implies feedback well-posedness also guarantees…
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…
This paper describes the design of a robust controller for position control in systems with sandwiched backlash. The backlash, which is nonsmooth and nonlinear, is inevitable in the operation of many systems, but it can have destructive…
We present a method to design a state-feedback controller ensuring exponential stability for nonlinear systems using only measurement data. Our approach relies on Koopman-operator theory and uses robust control to explicitly account for…
We consider a wide family of optical coherent feedback loops acting on an optomechanical system operating in the linearized regime. We assess the efficacy of such loops in improving key operations, such as cooling, steady-state squeezing…