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Control laws for continuous-time dynamical systems are most often implemented via digital controllers using a sample-and-hold technique. Numerical discretization of the continuous system is an integral part of subsequent analysis. Feedback…
In this paper, based on the spatio-temporal correlation of sensor nodes in the Internet of Things (IoT), a Spatio-temporal Scope information model (SSIM) is proposed to quantify the scope valuable information of sensor data, which decays…
In a recent paper [arXiv:1612.04918] there are new results concerning the polytopic set of possible states of a linear discrete-time SISO system subject to bounded disturbances from measurements corrupted by bounded noise. Using these…
We consider the problem of tracking one solution path defined by a polynomial homotopy on a parallel shared memory computer. Our robust path tracker applies Newton's method on power series to locate the closest singular parameter value. On…
Closed-loop performance of sequential decision making algorithms, such as model predictive control, depends strongly on the choice of controller parameters. Bayesian optimization allows learning of parameters from closed-loop experiments,…
When analysing time series an important issue is to decide whether the time series is stationary or a random walk. Relaxing these notions, we consider the problem to decide in favor of the I(0)- or I(1)-property. Fixed-sample statistical…
Tracking and forecasting the rotation of objects is fundamental in computer vision and robotics, yet SO(3) extrapolation remains challenging as (1) sensor observations can be noisy and sparse, (2) motion patterns can be governed by complex…
Modern distributed cyber-physical systems encounter a large variety of anomalies and in many cases, they are vulnerable to catastrophic fault propagation scenarios due to strong connectivity among the sub-systems. In this regard, root-cause…
This paper develops some extensions to the work of [1] which studied the continuous-time adaptive output tracking control schemes with the reference output signal generated from an unknown reference model system. The presented extensions…
This work presents a sum-of-squares (SOS) based framework to perform data-driven stabilization and robust control tasks on discrete-time linear systems where the full-state observations are corrupted by L-infinity bounded input,…
This paper considers the problem of real-time mode scheduling in linear time-varying switched systems subject to a quadratic cost functional. The execution time of hybrid control algorithms is often prohibitive for real-time applications…
Two ways of designing low-order discrete-time (i.e. digital) controls for low-order plant (i.e. process) models are considered in this tutorial. The first polynomial method finds the controller coefficients that place the poles of the…
Impedance models are widely used in assessing small signal stability of grid-tied voltage source converter (VSC) systems. Recent research has proven that impedance models of grid-tied VSC in both dq and sequence domains are generally…
We will show that there is a universal connection between the achievable closed-loop dynamics and the corresponding feedback controller that produces it. This connection shows promise to lead to new methods for robust nonlinear control in…
Deep-sea robot operations demand a high level of safety, efficiency and reliability. As a consequence, measures within the development stage have to be implemented to extensively evaluate and benchmark system components ranging from data…
We consider low-order controller design for large-scale linear time-invariant dynamical systems with inputs and outputs. Model order reduction is a popular technique, but controllers designed for reduced-order models may result in unstable…
We analyze a class of spatial random spanning trees built on a realization of a homogeneous Poisson point process of the plane. This tree has a simple radial structure with the origin as its root. We first use stochastic geometry arguments…
This paper introduces a closed-loop frequency analysis tool for reset control systems. To begin with sufficient conditions for the existence of the steady-state response for a closed-loop system with a reset element and driven by periodic…
Given a graph with a source vertex $s$, the Single Source Replacement Paths (SSRP) problem is to compute, for every vertex $t$ and edge $e$, the length $d(s,t,e)$ of a shortest path from $s$ to $t$ that avoids $e$. A Single-Source Distance…
The design of Autonomous Vehicle software has largely followed the Sense-Plan-Act model. Traditional modular AV stacks develop perception, planning, and control software separately with little integration when optimizing for different…