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Digital controllers have several advantages with respect to their flexibility and design's simplicity. However, they are subject to problems that are not faced by analog controllers. In particular, these problems are related to the finite…
We present a delay-compensating control method that transforms exponentially stabilizing controllers for an undelayed system into a sample-based predictive controller with numerical integration. Our method handles both first-order and…
We present a robust model predictive control method (MPC) for discrete-time linear time-delayed systems with state and control input constraints. The system is subject to both polytopic model uncertainty and additive disturbances. In the…
Time lags occur in a vast range of real-world dynamical systems due to finite reaction times or propagation speeds. Here we derive an analytical approach to determine the asymptotic stability of synchronous states in networks of coupled…
In this paper, we consider a networked control system (NCS) in which an dynamic plant system is connected to a controller via a temporally correlated wireless fading channel. We focus on communication power design at the sensor to minimize…
Distributed drive electric vehicles offer superior yaw moment control for autonomous drifting in extreme maneuvers. Conventional drift analysis constructs stability boundaries from open loop equilibria points and assumes a fixed envelope…
Standard model predictive control strategies imply the online computation of control inputs at each sampling instance, which traditionally limits this type of control scheme to systems with slow dynamics. This paper focuses on distributed…
A model predictive control (MPC) scheme for a permanent-magnet synchronous motor (PMSM) is presented. The torque controller optimizes a quadratic cost consisting of control error and machine losses repeatedly, accounting the voltage and…
This paper analyzes the stability of interconnected continuous-time (CT) and discrete-time (DT) systems coupled through sampling and zero-order hold mechanisms. The DT system updates its output at regular intervals $T>0$ by applying an…
This paper introduces a packet-based dual-rate control strategy to face time-varying network-induced delays, packet dropouts and packet disorder in a Networked Control System. Slow-rate sensing enables to achieve energy saving by reducing…
In this paper, a distributed velocity-constrained consensus problem is studied for discrete-time multi-agent systems, where each agent's velocity is constrained to lie in a nonconvex set. A distributed constrained control algorithm is…
In this paper we propose and analyze a distributed algorithm for achieving globally optimal decisions, either estimation or detection, through a self-synchronization mechanism among linearly coupled integrators initialized with local…
In this paper, we present a model-based periodic event-triggered control mechanism for nonlinear continuous-time Networked Control Systems. A sampled-data prediction of the system behavior is used at the actuator to reduce the amount of…
Networked control systems are feedback control systems with system components distributed at different locations connected through a communication network. Since the communication network is carried out through the internet and there are…
Predictor feedback designs are critical for delay-compensating controllers in nonlinear systems. However, these designs are limited in practical applications as predictors cannot be directly implemented, but require numerical approximation…
In the design of closed-loop networked control systems (NCSs), induced transmission delay between sensors and the control station is an often-present issue which compromises control performance and may even cause instability. A very…
This paper presents three types of sliding mode controllers for a magnetic levitation system. First, a proportional-integral sliding mode controller (PI-SMC) is designed using a new switching surface and a proportional plus power rate…
This article is concerned with data-driven analysis of discrete-time systems under aperiodic sampling, and in particular with a data-driven estimation of the maximum sampling interval (MSI). The MSI is relevant for analysis of and…
Model predictive control is a well established control technology for trajectory tracking. Its use requires the availability of an accurate model of the plant, but obtaining such a model is often time consuming and costly. Data-Enabled…
This paper focuses on discrete-time wireless sensor networks with privacy-preservation. In practical applications, information exchange between sensors is subject to attacks. For the information leakage caused by the attack during the…