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This paper investigates the problem of distributed nonblocking supervisory control for timed discrete-event systems (DESs). The distributed supervisors communicate with each other over networks subject to nondeterministic communication…
This thesis focuses on developing advanced control methods for two industrial systems in discrete-time aiming to enhance their performance in delivering the control objectives as well as considering the practical aspects. The first part…
Closed-loop control systems employ continuous sensing and actuation to maintain controlled variables within preset bounds and achieve the desired system output. Intentional disturbances in the system, such as in the case of cyberattacks,…
A centralized model predictive controller (MPC), which is unaware of local uncertainties, for an affine discrete time nonlinear system is presented. The local uncertainties are assumed to be matched, bounded and structured. In order to…
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…
The key challenges in design of predictor-based control laws for switched systems with arbitrary switching and long input delay are the potential unavailability of the future values of the switching signal (at current time) and the fact…
In this paper, we present a data-driven distributed model predictive control (MPC) scheme to stabilise the origin of dynamically coupled discrete-time linear systems subject to decoupled input constraints. The local optimisation problems…
Safe operation of multi-robot systems is critical, especially in communication-degraded environments such as underwater for seabed mapping, underground caves for navigation, and in extraterrestrial missions for assembly and construction. We…
This paper proposes an innovative end-to-end deterministic network mechanism to achieve delay-bounded transmissions across multiple network domains. The proposed mechanism installs discrete shapers at the edge of the network domains, which…
Permanent Magnet Synchronous Motors (PMSMs) are widely employed in high-performance drive systems owing to their high efficiency and power density. However, nonlinear dynamics, parameter uncertainties, and load disturbances complicate their…
A servomotor is a closed-loop system designed for precise movement control, utilizing position feedback to achieve accurate final positions. Due to the ability to deliver higher power output and operate at enhanced speeds, DC servo motors…
The proliferation of wireless communications networks over the past decades, combined with the scarcity of the wireless spectrum, have motivated a significant effort towards increasing the throughput of wireless networks. One of the major…
The recent advancements in cloud services, Internet of Things (IoT) and Cellular networks have made cloud computing an attractive option for intelligent traffic signal control (ITSC). Such a method significantly reduces the cost of cables,…
Non-ideal communication links, especially delays, critically affect fast networked controls in power systems, such as the wide-area damping control (WADC). Traditionally, a delay estimation and compensation approach is adopted to address…
The PI control of first-order linear passive systems through a delayed communication channel is revisited in light of the relative stability concept called sigma-stability. Treating the delayed communication channel as a transport PDE, the…
This paper presents an algebraic technique to compute the maximum time-delay that can be accepted in the control loop of a Brushless DC Motor (BLDCM) speed controller before the closed loop response becomes unstable. Using a recently…
Motivated by the goal of learning controllers for complex systems whose dynamics change over time, we consider the problem of designing control laws for systems that switch among a finite set of unknown discrete-time linear subsystems under…
We introduce the Composable Involution Delay Model (CIDM) for fast and accurate digital simulation. It is based on the Involution Delay Model (IDM) [F\"ugger et al., IEEE TCAD 2020], which has been shown to be the only existing candidate…
This paper addresses the numerical optimization of proportional-integral-derivative (PID) controllers for linear time-invariant systems with delays, where the derivative action is implemented using a low-pass filter. While performance…
This article presents the real-time implementation of the model predictive control for tracking formulation to control a two-wheeled inverted pendulum robot. This formulation offers several advantages over standard MPC formulations at the…