Related papers: Robust port-Hamiltonian representations of passive…
The paper focuses on stiffness matrix computation for manipulators with passive joints, compliant actuators and flexible links. It proposes both explicit analytical expressions and an efficient recursive procedure that are applicable in the…
This article considers the problem of optimally recovering stable linear time-invariant systems observed via linear measurements made on their transfer functions. A common modeling assumption is replaced here by the related assumption that…
The solution of constrained linear partial-differential equations can be described via parametric representations of linear relations. To study these representations, we provide a novel definition of boundary triplets for linear relations…
In the present paper, it is provided a representation result for the weak solutions of a class of evolutionary Hamilton-Jacobi-Bellman equations on infinite horizon, with Hamiltonians measurable in time and fiber convex. Such Hamiltonians…
This paper explores the observability and estimation capability of dynamical systems using predominantly relative measurements of the system's state-space variables, with minimal to no reliance on absolute measurements of these variables.…
Linear matrix Inequalities (LMIs) have had a major impact on control but formulating a problem as an LMI is an art. Recently there is the beginnings of a theory of which problems are in fact expressible as LMIs. For optimization purposes it…
Any representation of data involves arbitrary investigator choices. Because those choices are external to the data-generating process, each choice leads to an exact symmetry, corresponding to the group of transformations that takes one…
The proportional-integral-derivative (PID) controller and its variants are widely used in control engineering, but they often rely on linearization around equilibrium points and empirical parameter tuning, making them ineffective for…
High-resolution numerical simulations are utilized to examine isotropic turbulence in a compressible fluid when long wavelength velocity fluctuations approach light speed. Spectral analysis reveals an inertial sub-range of relativistic…
This paper focuses on robust stability and $H_\infty$ performance analyses of hybrid continuous/discrete time linear multi-rate control systems in the presence of parametric uncertainties. These affect the continuous-time plant in a…
Safety and stability are common requirements for robotic control systems; however, designing safe, stable controllers remains difficult for nonlinear and uncertain models. We develop a model-based learning approach to synthesize robust…
A framework for identifying nonlinear port-Hamiltonian systems using input-state-output data is introduced. The framework utilizes neural networks' universal approximation capacity to effectively represent complex dynamics in a structured…
In this paper we focus on different -- global, semi-local and local -- versions of Hoffman type inequalities expressed in a variational form. In a first stage our analysis is developed for generic multifunctions between metric spaces and we…
In the paper we study the following problem: given a Hamilton-Jacobi equation where the Hamiltonian is convex with respect to the last variable, are there any optimal control problems representing it? In other words, we search for an…
In many matching markets--such as athlete recruitment or academic admissions--participants on one side are evaluated by attribute vectors known to the other side, which in turn applies individual \emph{salience vectors} to assign relative…
We consider the general class of time-homogeneous stochastic dynamical systems, both discrete and continuous, and study the problem of learning a representation of the state that faithfully captures its dynamics. This is instrumental to…
This paper aims to provide various applications for second-order variational analysis of extended-real-valued piecewise liner functions recently obtained in [1]. We mainly focus here on establishing relationships between full stability of…
The structure of continuous Hopfield networks is revisited from a system-theoretic point of view. After adopting a novel electrical network interpretation involving nonlinear capacitors, it is shown that Hopfield networks admit a…
Hydrogen's growing role in the transition towards climate-neutral energy systems necessitates structured modeling frameworks. Existing gas network models, largely developed for natural gas, fail to capture hydrogen systems distinct…
Port-Hamiltonian systems are pertinent representations of many nonlinear physical systems. In this study, we formulate and analyse a general class of stochastic car-following models with a systematic port-Hamiltonian structure. The model…