Related papers: Output tracking for a non-minimum phase robotic ma…

This manuscript contains technical details and proofs of recent results developed by the authors, pertaining to the design of nonlinear controllers from the experimental data measured on an existing feedback control system.

In this paper an output-feedback model-based reinforcement learning (MBRL) method for a class of second-order nonlinear systems is developed. The control technique uses exact model knowledge and integrates a dynamic state estimator within…

This note addresses the output synchronization problem of incrementally output-feedback passive nonlinear systems in the presence of exogenous disturbances. Two kinds of distributed controllers are proposed; one placed at the nodes and the…

We address modeling and control of a gate access automation system. A model of the mechatronic system is derived and identified. Then an approximate explicit feedback linearization scheme is proposed, which ensures almost linear response…

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…

The Model Predictive Control (MPC) scheme Funnel MPC enables output tracking of smooth reference signals with prescribed error bounds for nonlinear multi-input multi-output systems with stable internal dynamics. Earlier works achieved the…

We present a minimal control-based continuation algorithm designed to track branches of limit cycles in autonomous systems. The controller can be viewed as three sub-controllers: (i) a derivative feedback controller that is used to…

We propose a novel robust Model Predictive Control (MPC) scheme for nonlinear multi-input multi-output systems of relative degree one with stable internal dynamics. The proposed algorithm is a combination of funnel MPC, i.e., MPC with a…

We consider the task of motion control for non-prehensile manipulation using parallel kinematics mechatronic setup, in particular, stabilization of a ball on a plate under unmeasured external harmonic disturbances. System parameters are…

The paper deals with the data-based design of state-feedback controllers that solve the output regulation problem for a class of nonlinear systems. Inspired by recent developments in model-based output regulation design techniques and in…

Feedback optimization is a control paradigm that enables physical systems to autonomously reach efficient operating points. Its central idea is to interconnect optimization iterations in closed-loop with the physical plant. Since iterative…

As a very well-known classical fact, non-minimum phase zeros of the process put some limitations on the performance of the feedback system. The source of these limitations is that such non-minimum phase zeros cannot be cancelled by unstable…

This work proposes a data-driven regulator design that drives the output of a nonlinear system asymptotically to a time-varying reference and rejects time-varying disturbances. The key idea is to design a data-driven feedback controller…

This paper extends the formulation of a data-driven control method - the Optimal Controller Identification (OCI) - to cope with non-minimum phase (NMP) systems, without a priori knowledge of the NMP transmission zero, i.e. without obtaining…

This work introduces a controller synthesis method via system level synthesis for nonlinear systems characterized by polynomial dynamics. The resulting framework yields finite impulse response, time-invariant, closed-loop transfer functions…

In this work, we consider the output tracking and disturbance rejection problems of a mono-tubular heat exchanger process and a novel finite-dimensional output feedback regulator is developed. In the proposed output feedback regulator…

This paper is concerned with the design of optimal control for finite-dimensional control-affine nonlinear dynamical systems. We introduce an optimal control problem that specifically optimizes nonlinear observability in addition to…

We propose model predictive funnel control, a novel model predictive control (MPC) scheme building upon recent results in funnel control. The latter is a high-gain feedback methodology that achieves evolution of the measured output within…

We study tracking control for a nonlinear moving water tank system modelled by the linearized Saint-Venant equations, where the output is given by the position of the tank and the control input is the force acting on it. For a given…

Anew method for finding closed-loop optimal controllers of fractional tracking quadratic optimal control problems is introduced. The optimality conditions for the fractional optimal control problem are obtained. Illustrative examples are…