Related papers: Converse passivity theorems
For a general class of dynamical systems (of which the canonical continuous and uniform discrete versions are but special cases), we prove that there is a state feedback gain such that the resulting closed-loop system is uniformly…
Communication-aware control is essential to reduce costs and complexity in large-scale networks. This work proposes a method to design dissipativity-augmented output feedback controllers with reduced online communication. The contributions…
Torque-controlled actuators are critical components in mechatronic systems that closely interact with their environment, such as legged robots, collaborative manipulators, and exoskeletons. The performance and stability of these actuators…
Feedback loops are major components of biochemical systems. Many systems show multiple such (positive or negative) feedback loops. Nevertheless, very few quantitative analyses address the question how such multiple feedback loops evolved.…
A reflection of our ultimate understanding of a complex system is our ability to control its behavior. Typically, control has multiple prerequisites: It requires an accurate map of the network that governs the interactions between the…
This paper studies a fundamental relation that exists between stabilizability assumptions usually employed in distributed model predictive control implementations, and the corresponding notions of invariance implicit in such controllers.…
These lecture notes concern the basics of the theory of process behaviour. First the concept of a (labelled) transition system receives ample treatment and then the following issues concerning process behaviour are elaborated in the setting…
Stability is a very important property of any physical system. By a stable system, we broadly mean that small disturbances either in the system inputs or in the initial conditions do not lead to large changes in the overall behavior of the…
Recent progress in quantum physics has made it possible to perform experiments in which individual quantum systems are monitored and manipulated in real time. The advent of such new technical capabilities provides strong motivation for the…
It is well known from the seminal Brockett's theorem that the openness property of the mapping on the right-hand side of a given nonlinear ODE control system is a necessary condition for the existence of locally asymptotically stabilizing…
We introduce a novel notion of invariance feedback entropy to quantify the state information that is required by any controller that enforces a given subset of the state space to be invariant. We establish a number of elementary properties,…
State convergence is essential in several scientific areas, e.g. multi-agent consensus/disagreement, distributed optimization, monotone game theory, multi-agent learning over time-varying networks. This paper is the first on state…
Safe and compliant control of dynamic systems in interaction with the environment, e.g., in shared workspaces, continues to represent a major challenge. Mismatches in the dynamic model of the robots, numerical singularities, and the…
In this paper, we study the problem of formation keeping of a network of strictly passive systems when very coarse information is exchanged. We assume that neighboring agents only know whether their relative position is larger or smaller…
Maximal monotonicity is explored as a generalization of the linear theory of passivity, aiming at an algorithmic input/output analysis of physical models. The theory is developed for maximal monotone one-port circuits, formed by the series…
The robust disturbance rejection controller has been the subject of intensive research due to its undeniable importance for automation. Modern control theory tends to use model-based approaches versus model-free approaches, especially when…
We study state-feedback design for continuous-time LTI systems with a control input and an external input-output pair. Our objective is to determine feedback gains that render the closed-loop system (strictly) passive with respect to the…
Transparency is an essential requirement of machine learning based decision making systems that are deployed in real world. Often, transparency of a given system is achieved by providing explanations of the behavior and predictions of the…
In order to certify performance and safety, feedback control requires precise characterization of sensor errors. In this paper, we provide guarantees on such feedback systems when sensors are characterized by solving a supervised learning…
We present a design framework to induce stable oscillations through mixed feedback control. We provide conditions on the feedback gain and on the balance between positive and negative feedback contributions to guarantee robust oscillations.…