Related papers: Realizability and Internal Model Control on Networ…
Observability and controllability are essential concepts to the design of predictive observer models and feedback controllers of networked systems. For example, noncontrollable mathematical models of real systems have subspaces that…
Many resources in the grid connect to power grids via programmable grid-interfacing inverters that can provide grid services and offer greater control flexibility and faster response times compared to synchronous generators. However, the…
Model Predictive Control (MPC) can efficiently control constrained systems in real-time applications. MPC feedback law for a linear system with linear inequality constraints can be explicitly computed off-line, which results in an off-line…
This paper examines the structural controllability for a group of agents, called followers, connected to each other based on the consensus law under commands of multiple leaders, which are agents with superior capabilities, over a fixed…
Exact controllability is proven on a graph with cycle. The controls can be a mix of controls applied at the boundary and interior vertices. The method of proof first uses a dynamical argument to prove shape controllability and velocity…
Model Predictive Control (MPC) is often tuned by trial and error. When a baseline linear controller exists that is already well tuned in the absence of constraints and MPC is introduced to enforce them, one would like to avoid altering the…
Robustness verification that aims to formally certify the prediction behavior of neural networks has become an important tool for understanding model behavior and obtaining safety guarantees. However, previous methods can usually only…
We propose a general approach to directly implement rate constraints on the discretization mesh for all collocation methods, for both state and input variables. Unlike conventional approaches that may lead to singular control arcs, the…
In this paper, we develop a retrofit control method with approximate environment modeling. Retrofit control is a modular control approach for a general stable network system whose subsystems are supposed to be managed by their corresponding…
The paradigm of layered networks is used to describe many real-world systems -- from biological networks, to social organizations and transportation systems. Recently there has been much progress in understanding the general properties of…
Constraint tightening to non-conservatively guarantee recursive feasibility and stability in Stochastic Model Predictive Control is addressed. Stability and feasibility requirements are considered separately, highlighting the difference…
In spite of the recent interest and advances in linear controllability of complex networks, controlling nonlinear network dynamics remains to be an outstanding problem. We develop an experimentally feasible control framework for nonlinear…
Minimal input/output selection is investigated in this paper for each subsystem of a networked system. Some novel sufficient conditions are derived respectively for the controllability and observability of a networked system, as well as…
The controllability of networks comprising homogeneous multi-input multi-output linear subsystems with linear couplings among them is examined, from a modal perspective. The eigenvalues of the network model are classified into two groups:…
The purpose of this paper is to study the realization theory of quantum linear systems. It is shown that for a general quantum linear system its controllability and observability are equivalent and they can be checked by means of a simple…
A computationally efficient reformulation of the rigid tube model predictive control is developed. A unique feature of the derived formulation is the utilization of the implicit set representations. This novel formulation does not require…
This study carries forward the line of enquiry that seeks to characterize precisely which security policies are enforceable by runtime monitors. In this regard, Basin et al.\ recently refined the structure that helps distinguish between…
This paper deals with structural controllability of leader-follower networks. The system matrix defining the network dynamics is a pattern matrix in which a priori given entries are equal to zero, while the remaining entries take nonzero…
In this paper we propose an implicit force control scheme for a one-link flexible manipulator that interact with a compliant environment. The controller was based in the mathematical model of the manipulator, considering the dynamics of the…
In this paper, we study the dynamical behavior of a linear control system on $\R^2$ when the associated matrix has real eigenvalues. Different from the complex case, we show that the position of the control zero relative to the control…