Related papers: A class of non-linear fractional-order system stab…
We present some results on stabilization for reduced-order models (ROMs) of partial differential equations. The stabilization is achieved using Lyapunov theory to design a new closure model that is robust to parametric uncertainties. The…
Deep learning has had a far reaching impact in robotics. Specifically, deep reinforcement learning algorithms have been highly effective in synthesizing neural-network controllers for a wide range of tasks. However, despite this empirical…
This note is concerned with the presentation of new delay-dependent dissipativity-based convex conditions (expressed in the form of linear matrix inequalities) for the design of static output feedback (SOF) stabilizing gains for open-loop…
An approach to stabilization of control systems with ultimately wide ranges of uncertainly disturbed parameters is offered. The method relies on using of nonlinear structurally stable functions from catastrophe theory as controllers.…
Over the past decades, the Koopman operator has been widely applied in data-driven control, yet its theoretical foundations remain underexplored. This paper establishes a unified framework to address the robust stabilization problem in…
Recent development of contraction theory based analysis of singularly perturbed system has opened the door for inspecting differential behavior of multi time-scale systems. In this paper a contraction theory based framework is proposed for…
This paper discusses the robustness of the constant-delay predictor feedback in the case of an uncertain time-varying input delay. Specifically, we study the stability of the closed-loop system when the predictor feedback is designed based…
In this paper we present a general tool to handle the presence of zero dynamics which are asymptotically but not locally exponentially stable in problems of robust nonlinear stabilization by output feedback. We show how it is possible to…
This work proposes a new procedure for the stabilization of time-delay systems using Static Output Feedback (SOF) control. A previous convex optimization approach to SOF for Ordinary Differential Equations (ODEs) is extended to time-delay…
In this paper we present a direct adaptive control method for a class of uncertain nonlinear systems with a time-varying structure. We view the nonlinear systems as composed of a finite number of ``pieces,'' which are interpolated by…
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 presents an efficient, offline method to simultaneously synthesize controllers and seek closed-loop Lyapunov functions for constrained piecewise affine systems on triangulated subsets of the admissible states. Triangulation…
When neural networks are used to model dynamics, properties such as stability of the dynamics are generally not guaranteed. In contrast, there is a recent method for learning the dynamics of autonomous systems that guarantees global…
Output feedback control design for linear time-invariant systems in the presence of sporadic measurements and exogenous perturbations is addressed. To cope with the sporadic availability of measurements of the output, a hybrid dynamic…
This study investigates the use of fractional order differential models to simulate the dynamic response of non-homogeneous discrete systems and to achieve efficient and accurate model order reduction. The traditional integer order approach…
For systems that are not observable at the very equilibrium of interest to be stabilized, output-feedback stabilization is considerably challenging. In this paper we solve this control problem for the case-study of a second-order system…
Predictive safety filters provide a way of projecting potentially unsafe inputs, proposed, e.g. by a human or learning-based controller, onto the set of inputs that guarantee recursive state and input constraint satisfaction by leveraging…
This paper is concerned with stability analysis of nonlinear time-varying systems by using Lyapunov function based approach. The classical Lyapunov stability theorems are generalized in the sense that the time-derivative of the Lyapunov…
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…
We propose an SDP-based framework to address the stabilization of input delay systems while taking into account dissipative constraints. A key to our approach is the introduction of the concept of parameterized linear dynamical state…