Related papers: Global Asymptotic Stability for General Linear MIM…

New necessary and sufficient conditions are proposed for the stability investigation of dynamical systems using the flow and the divergence of the phase vector velocity. The obtained conditions generalize the well-known results of V.P.…

In this note we identify a class of underactuated mechanical systems whose desired constant equilibrium position can be globally stabilised with the ubiquitous PID controller. The class is characterised via some easily verifiable conditions…

For uncertain multiple inputs multi-outputs (MIMO) nonlinear systems, it is nontrivial to achieve asymptotic tracking, and most existing methods normally demand certain controllability conditions that are rather restrictive or even…

A continuous adaptive control design is developed for nonlinear dynamical systems with linearly parameterizable uncertainty involving time-varying uncertain parameters. The key feature of this design is a robust integral of the sign of the…

In this paper, we consider a nonlinear networked control system (NCS) in which controllers, sensors and actuators are connected via several communication links. In each link, networking effects such as the transmission delay, packet loss,…

Input-to-state stability (ISS) unifies global asymptotic stability with respect to variations of initial conditions with robustness with respect to external disturbances. First, we present Lyapunov characterizations for input-to-state…

Engineered cyberphysical systems are growing increasingly large and complex. These systems require scalable controllers that robustly satisfy state and input constraints in the presence of additive noise -- such controllers should also be…

In this paper, we develop a systematic method for constructing a generalized discrete-time control Lyapunov function for the flexible-step Model Predictive Control (MPC) scheme, recently introduced in [2], when restricted to the class of…

Deep learning methods have demonstrated significant potential for addressing complex nonlinear control problems. For real-world safety-critical tasks, however, it is crucial to provide formal stability guarantees for the designed…

Envisioned applications for humanoid robots call for the design of balancing and walking controllers. While promising results have been recently achieved, robust and reliable controllers are still a challenge for the control community…

This paper studies a distributed estimation problem for time-varying/time-invariant large-scale interconnected systems (LISs). A fully distributed estimator is presented by recursively solving a distributed modified Riccati equation (DMRE)…

Two types of general nonlinear consensus protocols are considered in this paper, namely the systems with nonlinear measurement and communication of the agents' states, respectively. The solutions of the systems are understood in the sense…

We establish sufficient conditions for positive (semi-)definiteness, with or without radial unboundedness, for nonquadratic Lyapunov function constructed as sign-indefinite quadratic forms involving the state and the deadzone of a suitable…

Here, we study the ultimately bounded stability of network of mismatched systems using Lyapunov direct method. The upper bound on the error of oscillators from the center of the neighborhood is derived. Then the performance of an adaptive…

This paper develops a direct data-driven framework for infinite networks with unknown nonlinear polynomial subsystems, enabling the synthesis of controllers that ensure the entire network is uniformly globally asymptotically stable (UGAS).…

The concept of matrix D-stability plays an important role in applications, ranging from economic and biological system models to decentralized control. Here we provide necessary and sufficient Lyapunov-type conditions for the robust (block)…

Stability analysis tools are essential to understanding and controlling any engineering system. Recently sum-of-squares (SOS) based methods have been used to compute Lyapunov based estimates for the region-of-attraction (ROA) of polynomial…

Lyapunov stability theory is the bedrock of direct adaptive control. Fundamentally, Lyapunov stability requires constructing a distance-like function which must decrease with time to ensure stability. Feedback linearization, backstepping,…

In the present work, sufficient conditions for global stabilization of nonlinear uncertain systems by means of discrete-delay static output feedback are presented. Illustrating examples show the efficiency of the proposed control strategy.

The energy mix of future power systems will include high shares of wind power and solar PV. These generation facilities are generally connected via power-electronic inverters. While conventional generation responds dynamically to the state…