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In this paper, we propose a novel dynamic state-feedback controller for polytopic linear parameter-varying (LPV) systems with constant input matrix. The controller employs a projected gradient flow method to continuously improve its control…
In this work, we introduce a novel data-driven model-reference control design approach for unknown linear systems with fully measurable state. The proposed control action is composed by a static feedback term and a reference tracking block,…
This paper deals with sliding mode control for multivariable polytopic uncertain systems. We provide systematic procedures to design variable structure controllers (VSCs) and unit-vector controllers (UVCs). Based on suitable representations…
This paper considers the problem of output feedback control for non-square multi-input multi-output systems with arbitrary relative degree. The proposed controller, based on the L1 adaptive control architecture, is designed using the right…
Networked Control Systems (NCSs) often suffer from random packet dropouts which deteriorate overall system's stability and performance. To handle the ill effects of random packet losses in feedback control systems, closed over communication…
This work studies the design problem of feedback stabilizers for discrete-time systems with input delays. A backstepping procedure is proposed for disturbance-free discrete-time systems. The feedback law designed by using backstepping…
This paper proposes the design of gain-scheduled static output feedback controllers for the stabilization of continuous-time linear parameter-varying systems with $\mathcal{L}_2$-gain performance. The system is transformed into the form of…
Optimal experiment design for parameter estimation is a research topic that has been in the interest of various studies. A key problem in optimal input design is that the optimal input depends on some unknown system parameters that are to…
The control of constrained systems using model predictive control (MPC) becomes more challenging when full state information is not available and when the nominal system model and measurements are corrupted by noise. Since these conditions…
Stability is a critical feature of distributed linear multi-input-multi-output systems. Global asymptotic stability usually can be guaranteed when using decentralised or distributed control architectures, if: (i) conservative controllers…
This paper investigates the problem of robust model predictive control (RMPC) of linear-time-invariant (LTI) discrete-time systems subject to structured uncertainty and bounded disturbances. Typically, the constrained RMPC problem with…
In this paper, we propose a novel nonlinear observer based on neural networks, called neural observer, for observation tasks of linear time-invariant (LTI) systems and uncertain nonlinear systems. In particular, the neural observer designed…
The fundamental lemma by Jan C. Willems and co-authors enables the representation of all input-output trajectories of a linear time-invariant system by measured input-output data. This result has proven to be pivotal for data-driven…
This paper proposes a reinforcement learning-based approach for optimal transient frequency control in power systems with stability and safety guarantees. Building on Lyapunov stability theory and safety-critical control, we derive…
In this paper, we propose a novel safety-critical control framework for a chain of integrators subject to both matched and mismatched perturbations. The core of our approach is a linear, time-varying state-feedback design that…
Robustness is established for the predictor feedback for linear time-invariant systems with respect to possibly time-varying perturbations of the input delay, with a constant nominal delay. Prior results have addressed qualitatively…
Robust design of autonomous systems under uncertainty is an important yet challenging problem. This work proposes a robust controller that consists of a state estimator and a tube based predictive control law. The class of linear systems…
We consider controller design for robust output tracking and disturbance rejection for continuous-time periodic linear systems with periodic reference and disturbance signals. As our main results we present four different controllers: A…
In this paper, we considered a design method of non-linear state feedback controller for input-affine non-linear system taking data losses into account. When data is lost in control system, control input is fixed to constant value or to the…
In this paper, we propose a novel approach to synthesize linear feedback controllers for navigating in polygonal environments using noisy measurements and a convex cell decomposition. Our method is based on formulating chance constraints…