Related papers: Converse passivity theorems
We propose an information-theoretic framework for analyzing control systems based on the close relationship of controllers to communication channels. A communication channel takes an input state and transforms it into an output state. A…
The recent rapid proliferation of renewable energy is fundamentally changing the dynamic operations of power systems, necessitating new approaches to assess stability for these highly nonlinear systems. In this paper, we prove that…
We consider a general class of translation-invariant systems with a specific category of output nonlinearities motivated by biological sensing. We show that no dynamic output feedback can stabilize this class of systems to an isolated…
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 provide algorithmically verifiable necessary and sufficient conditions for fundamental system theoretic properties of discrete time linear systems subject to data losses. More precisely, the systems in our modeling framework are subject…
In this paper we introduce a new notion of passivity which we call Krasovskii's passivity and provide a sufficient condition for a system to be Krasovskii's passive. Based on this condition, we investigate classes of port-Hamiltonian and…
We consider the problem of optimizing the steady state of a dynamical system in closed loop. Conventionally, the design of feedback optimization control laws assumes that the system is stationary. However, in reality, the dynamics of the…
Control-affine output systems generically present observability singularities, i.e. inputs that make the system unobservable. This proves to be a difficulty in the context of output feedback stabilization, where this issue is usually…
In this paper we investigate a passivity approach to collective coordination and synchronization problems in the presence of quantized measurements and show that coordination tasks can be achieved in a practical sense for a large class of…
Real-world control applications in complex and uncertain environments require adaptability to handle model uncertainties and robustness against disturbances. This paper presents an online, output-feedback, critic-only, model-based…
Shared Control methods often use impedance control to track target poses in a robotic manipulator. The guidance behavior of such controllers is shaped by the used stiffness gains, which can be varying over time to achieve an adaptive…
This manuscript introduces a passivity-based integral control approach for fully-actuated mechanical systems. The novelty of our methodology is that we exploit the gyroscopic forces of the mechanical systems to exponentially stabilize the…
This article explains the distinctions between robustness and resilience in control systems. Resilience confronts a distinct set of challenges, posing new ones for designing controllers for feedback systems, networks, and machines that…
This article is concerned with stability analysis and stabilization of randomly switched systems under a class of switching signals. The switching signal is modeled as a jump stochastic (not necessarily Markovian) process independent of the…
Robust control is a core approach for controlling systems with performance guarantees that are robust to modeling error, and is widely used in real-world systems. However, current robust control approaches can only handle small system…
The control of individual quantum systems is now a reality in a variety of physical settings. Feedback control is an important class of control methods because of its ability to reduce the effects of noise. In this review we give an…
Motivated by current sharing in power networks, we consider a class of output consensus (also called agreement) problems for nonlinear systems, where the consensus value is determined by external disturbances, e.g., power demand. This…
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…
Simulation has played an important role in efficiently evaluating self-driving vehicles in terms of scalability. Existing methods mostly rely on heuristic-based simulation, where traffic participants follow certain human-encoded rules that…
We study synchronization of nonlinear systems that satisfy an incremental passivity property. We consider the case where the control input is subject to a class of disturbances, including constant and sinusoidal disturbances with unknown…