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A complete structure-preserving learning scheme for single-input/single-output (SISO) linear port-Hamiltonian systems is proposed. The construction is based on the solution, when possible, of the unique identification problem for these…
In the realm of autonomous vehicle technologies and advanced driver assistance systems, precise and reliable path tracking controllers are vital for safe and efficient navigation. However the presence of dead time in the vehicle control…
This work addresses the finite-time enclosing control problem where a set of followers are deployed to encircle and rotate around multiple moving targets with a predefined spacing pattern in finite time. A novel distributed and continuous…
Scientific computing applications heavily rely on multi-level loop nests operating on multidimensional arrays. This presents multiple optimization opportunities from exploiting parallelism to reducing data movement through prefetching and…
This paper introduces a new approach for output feedback stabilization of SISO systems which, unlike most of the techniques found in the literature, does not use high-gain observers and control input saturation to achieve separation between…
In this note, we investigate the structural controllability and observability indices of structured systems. We provide counter-examples showing that an existing graph-theoretic characterization for the structural controllability index…
The LC method described in this work seeks to approximate the roots of polynomial equations in one variable. This book allows you to explore the LC method, which uses geometric structures of Lines L and Circumferences C in the plane of…
This paper presents a method for planning a trajectory in workspace coordinates using a spatially fixed tool center point (TCP), while taking into account the processing path on a part. This approach is beneficial if it is easier to move…
Given one open-loop measured trajectory of a single-input single-output discrete-time linear time-invariant system, we present a framework for data-driven controller design for closed-loop finite-horizon dissipativity. First, we parametrize…
This paper presents a method to verify closed-loop properties of optimization-based controllers for deterministic and stochastic constrained polynomial discrete-time dynamical systems. The closed-loop properties amenable to the proposed…
The pseudospectrum of a linear time-invariant system is the set in the complex plane consisting of all the roots of the characteristic equation when the system matrices are subjected to all possible perturbations with a given upper bound.…
This paper presents a control technique for output tracking of reference signals in continuous-time dynamical systems. The technique is comprised of the following three elements: (i) output prediction which has to track the reference…
This paper discusses the design of an extremum seeking controller that relies on a monitoring function for a class of SISO uncertain nonlinear systems characterized by arbitrary and uncertain relative degree. Our demonstration illustrates…
This paper presents an alternative approach for the computation of trajectory segments on slow manifolds of saddle type. This approach is based on iterative methods rather than collocation-type methods. Compared to collocation methods, that…
The Synthetic Control method (SC) has become a valuable tool for estimating causal effects. Originally designed for single-treated unit scenarios, it has recently found applications in high-dimensional disaggregated settings with multiple…
Traditionally, the delay margin of a looped system is computed by considering both the controller and system representations that evolve in the same space (e.g. either continuous or discrete-time). However, as in practice the system is…
We propose necessary and sufficient conditions for the synchronization of $N$ identical single-input-single-output (SISO) systems, connected through a directed graph {without imposing any assumption on the graph interconnection}. We…
We consider stabilization of linear time-invariant (LTI) and single input single output (SISO) plants in the frequency domain from a fresh perspective. Compensators that are themselves stable are sometimes preferred because they make…
We establish data-driven versions of the System Level Synthesis (SLS) parameterization of achievable closed-loop system responses for a linear-time-invariant system over a finite-horizon. Inspired by recent work in data-driven control that…
We use our recent implementation of a certified homotopy tracking algorithm to search for start systems that minimize the average complexity of finding all roots of a regular system of polynomial equations. While finding optimal start…