Related papers: Krasovskii's Passivity
Most impedance control schemes in robotics implement a desired passive impedance, allowing for stable interaction between the controlled robot and the environment. However, there is little guidance on the selection of the desired impedance.…
The relationship between port-Hamiltonian and positive real descriptor systems is investigated. It is well-known that port-Hamiltonian systems are positive real, but the converse implication does not always hold. In [K. Cherifi, H.…
DC microgrids are getting more and more applications due to simple converters, only voltage control and higher efficiencies compared to conventional AC grids. Droop control is a well know decentralized control strategy for power sharing…
Projection-based Controllers (PBCs) are currently gaining traction in both scientific and engineering communities. In PBCs, the input-output signals of the controller are kept in sector-bounded sets by means of projection. In this paper, we…
The energy mix of future power systems will include high shares of wind power and solar PV. These generation facilities are generally connected via power-electronic inverters. While conventional generation responds dynamically to the state…
In this paper, we study the concept of approximate controllability of retarded network systems of neutral type. On one hand, we reformulate such systems as free-delay boundary control systems on product spaces. On the other hand, we use the…
We establish well-posedness results for non-autonomous semilinear input-output systems, the central assumption being the scattering-passivity of the considered semilinear system. We consider both systems with distributed control and…
The use of multivalued controls derived from a special maximal monotone operator are studied in this note. Starting with a strictly passive linear system (with possible parametric uncertainty and external disturbances) a multivalued control…
Port-Hamiltonian systems provide an energy-based formulation with a model class that is closed under structure preserving interconnection. For continuous-time systems these interconnections are constructed by geometric objects called Dirac…
The generalized Kalman-Yakubovich-Popov lemma as established by Iwasaki and Hara in 2005 marks a milestone in the analysis and synthesis of linear systems from a finite-frequency perspective. Given a pre-specified frequency band, it allows…
Switching physical systems are ubiquitous in modern control applications, for instance, locomotion behavior of robots and animals, power converters with switches and diodes. The dynamics and switching conditions are often hard to obtain or…
Linear parameter-varying (LPV) systems with uncertainty in time-varying delays are subject to performance degradation and instability. In this line, we investigate the stability of such systems invoking an input-output stability approach.…
In this paper the stability of a closed-loop cascade control system in the trajectory tracking task is addressed. The considered plant consists of underlying second-order fully actuated perturbed dynamics and the first order system which…
There is increasing interest in control frameworks capable of moving robots from industrial cages to unstructured environments and coexisting with humans. Despite significant improvement in some specific applications (e.g., medical…
We introduce High-Relative Degree Stochastic Control Lyapunov functions and Barrier Functions as a means to ensure asymptotic stability of the system and incorporate state dependent high relative degree safety constraints on a non-linear…
When electric vehicles (EVs) are integrated into standalone DC microgrids (DCMGs), stability issues arise due to their constant power load (CPL) behavior, which provides negative incremental impedance (NII). In addition, the microgrids…
Families of regimes for control systems are studied possessing the so called quasi-controllability property that is similar to the Kalman controllability property. A new approach is proposed to estimate the degree of transients overshooting…
The problem of primary control of high-voltage direct current transmission systems is addressed in this paper, which contains four main contributions. First, to propose a new nonlinear, more realistic, model for the system suitable for…
This paper addresses the safe stabilization problem of stochastic nonlinear time-delay systems. Based on theKrasovskii approach, we first propose a stochastic control Lyapunov-Krasovskii functional to guarantee the stabilization objective…
Transient gas network simulations can significantly assist in design and operational aspects of gas networks. Models used in these simulations require a detailed framework integrating various models of the network constituents - pipes and…