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This paper proposes a framework for adaptively learning a feedback linearization-based tracking controller for an unknown system using discrete-time model-free policy-gradient parameter update rules. The primary advantage of the scheme over…
The paper presents a collection of results on continuous dependence for solutions to nonlocal problems under perturbations of data and system parameters. The integral operators appearing in the systems capture interactions via heterogeneous…
In this paper, a method is presented to synthesize neural network controllers such that the feedback system of plant and controller is dissipative, certifying performance requirements such as L2 gain bounds. The class of plants considered…
This paper addresses the problem of robust process and sensor fault reconstruction for nonlinear systems. The proposed method augments the system dynamics with an approximated internal linear model of the combined contribution of known…
In this paper, we utilize information theory to study the fundamental performance limitations of generic feedback systems, where both the controller and the plant may be any causal functions/mappings while the disturbance can be with any…
The integral control of positive systems using nonnegative control input is an important problem arising, among others, in biochemistry, epidemiology and ecology. An immediate solution is to use an ON-OFF nonlinearity between the controller…
Symmetries of nonlinear control systems in state representation are considered. To this end, a geometric approach to ordinary differential equations is advocated. Invariant feedback laws for systems with Lie symmetries, i.e. feedback laws…
This work studies mean-square stabilizability via output feedback for a networked linear time invariant (LTI) feedback system with a non-minimum phase plant. In the feedback system, the control signals are transmitted to the plant over a…
In this paper, we propose a suboptimal and reduced-order Model Predictive Control (MPC) architecture for discrete-time feedback-interconnected systems. The numerical MPC solver: (i) acts suboptimally, performing only a finite number of…
In this paper, we explore the discrete time sparse feedback control for a linear invariant system, where the proposed optimal feedback controller enjoys input sparsity by using a dynamic linear compensator, i.e., the components of feedback…
In this paper, we study feedback dynamical systems with memoryless controllers under imperfect information. We develop an algorithm that searches for "adversarial scenarios", which can be thought of as the strategy for the adversary…
A control system is called self-powered if the only energy it requires for operation is that which it absorbs from the plant. For a linear feedback law to be feasible for a self-powered control system, its feedback signal must be colocated…
The theory of feedback integrators is extended to handle mechanical systems with nonholonomic constraints with or without symmetry, so as to produce numerical integrators that preserve the nonholonomic constraints as well as other conserved…
We propose a certainty-equivalence scheme for adaptive control of scalar linear systems subject to additive, i.i.d. Gaussian disturbances and bounded control input constraints, without requiring prior knowledge of the bounds of the system…
We consider the problem of output feedback controller sparsification for systems with parametric uncertainties. We develop an optimization scheme that minimizes the performance deterioration caused by the sparsification process, while…
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…
Feedback control is a renowned mechanism for attenuating intrinsic fluctuation in regulatory networks. However, its impact on the response sensitivity to external signals and the response timescale, which are also critical for signal…
The analysis and proper documentation of the properties of closed-loop control software presents many distinct aspects from the analysis of the same software running open-loop. Issues of physical system representations arise, and it is…
A new systematic approach to the construction of approximate solutions to a class of nonlinear singularly perturbed feedback control systems using the boundary layer functions especially with regard to the possible occurrence of the…
Nonlinear extension of the integral part of a standard proportional-integral-derivative (PID) feedback control is proposed for perturbed second-order systems. The approach is model-free and requires solely the Lipschitz boundedness of the…