Related papers: New Gramians for Linear Switched Systems: Reachabi…
In this article we investigate model order reduction of large-scale systems using time-limited balanced truncation, which restricts the well known balanced truncation framework to prescribed finite time intervals. The main emphasis is on…
In this paper, we revisit energy-based concepts of controllability and reformulate them for control-affine nonlinear systems perturbed by white noise. Specifically, we discuss the relation between controllability of deterministic systems…
In this article, we present a new scheme that approximates unknown sensorimotor models of robots by using feedback signals only. The formulation of the uncalibrated sensor-based regulation problem is first formulated, then, we develop a…
The computation of the entire Lyapunov spectrum for extended dynamical systems is a very time consuming task. If the system is in a chaotic spatio-temporal regime it is possible to approximately reconstruct the Lyapunov spectrum from the…
In this paper we propose augmented interval Markov chains (AIMCs): a generalisation of the familiar interval Markov chains (IMCs) where uncertain transition probabilities are in addition allowed to depend on one another. This new model…
We prove a converse Lyapunov theorem for boundedness of reachability sets for a general class of control systems whose flow is Lipschitz continuous on compact intervals with respect to trajectory-dominated inputs. We show that this…
This paper is concerned with the design of optimal control for finite-dimensional control-affine nonlinear dynamical systems. We introduce an optimal control problem that specifically optimizes nonlinear observability in addition to…
We provide two new classes of moment models for linear kinetic equations in slab and three-dimensional geometry. They are based on classical finite elements and low-order discontinuous-Galerkin approximations on the unit sphere. We…
This paper studies the stability of covariance-intersection (CI)-based distributed Kalman filtering in time-varying systems. For the general time-varying case, a relationship between the error covariance and the observability Gramian is…
An alternative approach for minimum and mode-dependent dwell-time characterization for switched systems is derived. The proposed technique is related to Lyapunov looped-functionals, a new type of functionals leading to stability conditions…
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…
This article provides a characterization of stability for switched nonlinear systems under average dwell-time constraints, in terms of necessary and sufficient conditions involving multiple Lyapunov functions. Earlier converse results focus…
This paper is concerned with the Lyapunov spectrum for measurable cocycles over an ergodic pmp system taking values in semi-simple real Lie groups. We prove simplicity of the Lyapunov spectrum and its continuity under certain perturbations…
In this article, we consider abstract linear conservative systems and their time-discrete counterparts. Our main result is a representation formula expressing solutions of the continuous model through the solution of the corresponding…
We propose two kinds of model order reduction methods for discrete time-delay systems with inhomogeneous initial conditions. The peculiar properties of discrete Walsh functions are directly utilized to compute the Walsh coefficients of the…
The theory of nonlinear balanced truncation provides a system-theoretic framework for model reduction that preserves important properties such as stability, controllability, and observability. We present a scalable algorithm for computing…
The paper concerns the solvability by quadratures of linear differential systems, which is one of the questions of differential Galois theory. We consider systems with regular singular points as well as those with (non-resonant) irregular…
The cross gramian matrix is a tool for model reduction and system identification, but it is only computable for square control systems. For symmetric systems the cross gramian possesses a useful relation to the system's associated Hankel…
We present a novel approach to quantifying and optimizing stability in robotic systems based on the Lyapunov exponents addressing an open challenge in the field of robot analysis, design, and optimization. Our method leverages…
In this paper, we consider the data-driven discovery of stable dynamical models with a single equilibrium. The proposed approach uses a basis-function parameterization of the differential equations and the associated Lyapunov function. This…