Related papers: Nonovershooting output regulation for feedback lin…
A method for certifying exact input trackability for constrained discrete time linear systems is introduced in this paper. A signal is assumed to be drawn from a reference set and the system must track this signal with a linear combination…
This paper deals with the trajectory tracking control problem for a class of bilinear systems with unmeasurable states and unknown parameters. Firstly, a full-information controller is suggested that guarantees global tracking under a…
In this paper we develop a method for learning nonlinear systems with multiple outputs and inputs. We begin by modelling the errors of a nominal predictor of the system using a latent variable framework. Then using the maximum likelihood…
In this paper, we present an impedance control design for multi-variable linear and nonlinear robotic systems. The control design considers force and state feedback to improve the performance of the closed loop. Simultaneous feedback of…
We propose an extension of the input-output feedback linearization for a class of multivariate systems that are not input-output linearizable in a classical manner. The key observation is that the usual input-output linearization problem…
This note studies the exponential convergence of input-output signals of discrete-time nonlinear systems composed of a feedback interconnection of a linear time-invariant system and a nonlinear uncertainty. Both the open-loop subsystems are…
A basic result in synchronization of linear systems via output coupling is presented. For identical discrete-time linear systems that are detectable from their outputs and neutrally stable, it is shown that a linear output feedback law…
A nonparametric learning solution framework is proposed for the global nonlinear robust output regulation problem. We first extend the assumption that the steady-state generator is linear in the exogenous signal to the more relaxed…
For uncertain multiple inputs multi-outputs (MIMO) nonlinear systems, it is nontrivial to achieve asymptotic tracking, and most existing methods normally demand certain controllability conditions that are rather restrictive or even…
Timeout control is a simple mechanism used when direct feedback is either impossible, unreliable, or too costly, as is often the case in distributed systems. Its effectiveness is determined by a timeout threshold parameter and our goal is…
For the unicycle system, we provide constructive methods for the design of feedback laws that have one or more of the following properties: being nonmodular and globally exponentially stabilizing, inverse optimal, robust to arbitrary…
In this paper, we address the problem of data-driven stabilization of continuous-time multi-input multi-output (MIMO) linear time-invariant systems using the input-output data collected from an experiment. Building on recent results for…
In this paper, we discuss the state feedback output regulation problem (SFRP) for infinite-dimensional linear control systems with infinite-dimensional exosystems. Under the polynomial stabilizability assumption, sufficient and necessary…
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…
We consider the optimal control design problem for discrete-time LTI systems with state feedback, when the actuation signal is subject to unmeasurable switching propagation delays, due to e.g. the routing in a multi-hop communication…
Demand side management has gained increasing importance as the penetration of renewable energy grows. Based on a Markov jump process modelling of a group of thermostatic loads, this paper proposes a two level feedback system design between…
This paper investigates the linear output regulation problem with both the exosystem and the plant fully unknown. A data-driven regulator is proposed to achieve asymptotic regulation and closed-loop stability without performing model…
In this paper we consider the problem of stabilization and tracking of desired state trajectory for a wide range of nonlinear control problems with disturbances. We present the sufficient conditions for the existence of $C^k$ state feedback…
This paper presents a safe output regulation control strategy for a class of systems modeled by a coupled $2\times 2$ hyperbolic PDE-ODE structure, subject to fully distributed disturbances throughout the system. A state-feedback controller…
In this paper, we propose a framework for output tracking control of both minimum phase (MP) and non-minimum phase (NMP) systems {as well as systems with transmission zeros on the unit circle}. Towards this end, we first address the problem…