Related papers: Low-Order Control Design using a Reduced-Order Mod…
Finite element methods have been successfully used to develop physics-based models of soft robots that capture the nonlinear dynamic behavior induced by continuous deformation. These high-fidelity models are therefore ideal for designing…
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…
Real-world systems are often characterized by high-dimensional nonlinear dynamics, making them challenging to control in real time. While reduced-order models (ROMs) are frequently employed in model-based control schemes, dimensionality…
This paper investigates the design of a robust fixed-order controller for single-input-single-output (SISO) polytopic systems with interval uncertainties, with the aim that the closed-loop stability is appropriately ensured and the…
This paper investigates the robust stabilisation of a class of fractional-order non-linear systems via fixed-order dynamic output feedback controller in terms of linear matrix inequalities (LMIs). The systematic stabilisation algorithm…
In this paper, the moment matching techniques are adopted to obtain reduced-order closed-loop systems with reduced-order controllers that maintain the closed-loop stability and guarantee desired asymptotic performance, after revealing the…
Model order reduction in high-dimensional, nonlinear dynamical systems if often enabled through fast-slow timescale separation. One such approach involves identifying a low-dimensional slow manifold to which the state rapidly converges and…
Model-based controllers can offer strong guarantees on stability and convergence by relying on physically accurate dynamic models. However, these are rarely available for high-dimensional mechanical systems such as deformable objects or…
A model order reduction algorithm is presented that generates a reduced-order model of the original high-order model, which ensures high-fidelity within the desired time interval. The reduced model satisfies a subset of the first-order…
Steering a system towards a desired target in a very short amount of time is challenging from a computational standpoint. Indeed, the intrinsically iterative nature of optimal control problems requires multiple simulations of the physical…
This paper addresses the design of finite-dimensional feedback control laws for linear discrete-time fractional-order systems with additive state disturbance. A set of sufficient conditions are provided to guarantee convergence of the state…
We consider the problem of zeroing an error output of a nonlinear discrete-time system in the presence of constant exogenous disturbances, subject to hard convex constraints on the input signal. The design specification is formulated as a…
Robust control design is mainly devoted to guarantee closed-loop stability of a model-based control law in presence of parametric and structural uncertainties. The control law is usually a complex feedback law which is derived from a…
A state space based design method is given to find strongly stabilizing controllers for multiple-input-multiple-output plants (MIMO). A sufficient condition is derived for the existence of suboptimal stable H-infinity controller in terms of…
Online convex optimization (OCO) is a powerful tool for learning sequential data, making it ideal for high precision control applications where the disturbances are arbitrary and unknown in advance. However, the ability of OCO-based…
Many complex engineering systems consist of multiple subsystems that are developed by different teams of engineers. To analyse, simulate and control such complex systems, accurate yet computationally efficient models are required. Modular…
A new MATLAB package called HIFOO was recently proposed for H-infinity fixed-order controller design. This document illustrates how some standard controller design examples can be solved with this software.
This paper investigates the design of reduced-order observers for robotic manipulators. Observer stability conditions are obtained based on a Lyapunov analysis and the proposed observer is enhanced with a hybrid scheme that may adjust the…
According to the well-known loop shaping method for the design of controllers, the performance of the controllers in terms of step response, steady-state disturbance rejection and noise attenuation and robustness can be improved by…
Stably inverting a dynamic system model is the foundation of numerous servo designs. Existing inversion techniques have provided accurate model approximations that are often highly effective in feedforward controls. However, when the…