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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…
Given the recent surge of interest in data-driven control, this paper proposes a two-step method to study robust data-driven control for a parameter-unknown linear time-invariant (LTI) system that is affected by energy-bounded noises.…
Recent advances in learning-based perception systems have led to drastic improvements in the performance of robotic systems like autonomous vehicles and surgical robots. These perception systems, however, are hard to analyze and errors in…
In this article, we study the linear time-invariant state-feedback controller design problem for distributed systems. We follow the recently developed system level synthesis (SLS) approach and impose locality structure on the resulting…
Positive linear systems on arbitrary time scales are studied. The theory developed in the paper unifies and extends concepts and results known for continuous-time and discrete-time systems. A necessary and sufficient condition for a linear…
The idea of posing a command following or tracking control problem as an input reconstruction problem is explored in the paper. For a class of square MIMO systems with known dynamics, by pretending that reference commands are actual outputs…
Due to simplicity and strong stability guarantees, predictor feedback methods have stood as a popular approach for time delay systems since the 1950s. For time-varying delays, however, implementation requires computing a prediction horizon…
This work introduces a controller synthesis method via system level synthesis for nonlinear systems characterized by polynomial dynamics. The resulting framework yields finite impulse response, time-invariant, closed-loop transfer functions…
This paper proposes a novel input-output parametrization of the set of internally stabilizing output-feedback controllers for linear time-invariant (LTI) systems. Our underlying idea is to directly treat the closed-loop transfer matrices…
The paper studies the output-feedback synchronization problem for a network of identical, linear time-invariant systems. A criterion to test network synchronization is derived and the class of output-feedback synchronizable systems is…
Many cyber-physical systems can naturally be formulated as switched systems with constrained switching. This includes systems where one of the signals in the feedback loop may be lost. Possible sources for losses are shared or unreliable…
This survey paper deals with the stabilization of nonlinear systems by analyzing the controlling method in terms of state feedback and output feedback. A brief overview of some literature on how the feedback controller of some dynamic…
In this paper, we study the problem of stabilizing continuous-time switched linear systems with quantized output feedback. We assume that the observer and the control gain are given for each mode. Also, the plant mode is known to the…
In this paper we propose a data-driven output-feedback controller synthesis method for discrete-time linear time-invariant systems in a specific autoregressive form. The synthesis goal is either to achieve dissipativity with respect to a…
In this paper we consider $(x,u)$-flat nonlinear control systems with two inputs, and show that every such system can be rendered static feedback linearizable by prolongations of a suitably chosen control. This result is not only of…
The choice and placement of sensors and actuators is an essential factor determining the performance that can be realized using feedback control. This determination is especially important, but difficult, in the context of controlling…
Most control synthesis methods under temporal logic properties require a model of the system, however, identifying such a model can be a challenging task. In this work, we develop a direct data-driven control synthesis method for temporal…
We address the output regulation problem of linear systems with non-smooth and non-periodic exogenous signals. Specifically, we first formulate and solve the full-information problem by designing a state-feedback controller. We study the…
This manuscript contains technical details and proofs of recent results developed by the authors, pertaining to the design of nonlinear controllers from the experimental data measured on an existing feedback control system.
We provide a solution to the heretofore open problem of stabilization of systems with arbitrarily long delays at the input and output of a nonlinear system using output feedback only. The solution is global, employs the predictor approach…