Related papers: Yet another introduction to linear dynamical syste…
Target output controllers aim at regulating a system's target outputs by placing poles of a suitable subsystem using partial state feedback, where full state controllability is not required. This paper establishes existence conditions for…
End-to-end engineering design pipelines, in which designs are evaluated using concurrently defined optimal controllers, are becoming increasingly common in practice. To discover designs that perform well even under the misspecification of…
Robust implementable output regulator design approaches are studied for general linear continuous-time \mbox{systems} with periodically sampled measurements, consisting of both the regulation errors and extra measurements that are generally…
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.
Dynamic feedback linearization-based methods allow us to design control algorithms for a fairly large class of nonlinear systems in continuous time. However, this feature does not extend to their sampled counterparts, i.e., for a given…
In these notes we collect some results from several of the authors' works in order to make available a single source and show how the approximate geometric methods for regulation have been developed, and how the control design strategy has…
This tutorial shows an overview of Model Predictive Control with a linear discrete-time system and constrained states and inputs. The focus is on the implementation of the method under consideration of stability and recursive feasibility.…
The focus of this thesis is developing a framework for designing correct-by-construction controllers using control certificates. We use nonlinear dynamical systems to model the physical environment (plants). The goal is to synthesize…
Controlling nonlinear dynamical systems remains a central challenge in a wide range of applications, particularly when accurate first-principle models are unavailable. Data-driven approaches offer a promising alternative by designing…
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…
The paper contains technical details of recent results developed by the author, regarding the design of LPV controllers directly from experimental data. Two numerical examples are also presented, about control of the Duffing oscillator and…
We present three dynamic error feedback controllers for robust output regulation of regular linear systems. These controllers are (i) a minimal order robust controller for exponentially stable systems (ii) an observer-based robust…
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…
In this paper we apply a model-driven engineering approach to designing domain-specific solutions for robot control system development. We present a case study of the complete process, including identification of the domain meta-model,…
The robust disturbance rejection controller has been the subject of intensive research due to its undeniable importance for automation. Modern control theory tends to use model-based approaches versus model-free approaches, especially when…
We consider the basic features of complex dynamical and control systems. Special attention is paid to the problems of synthesis of dynamical models of complex systems, construction of efficient control models, and to the development of…
Data-driven control offers a powerful alternative to traditional model-based methods, particularly when accurate system models are unavailable or prohibitively complex. While existing data-driven control methods primarily aim to construct…
This paper presents a new technique for the design of approximate reasoning based controllers for dynamic physical systems with interacting goals. In this approach, goals are achieved based on a hierarchy defined by a control knowledge base…
A novel method for control of dynamical systems, proposed in the paper, ensures an output signal belonging to the given set at any time. The method is based on a special change of coordinates such that the initial problem with given…
This manuscript contains technical details of recent results developed by the authors on the algorithm for direct design of controllers for nonlinear systems from data that has the ability to to automatically modify some of the tuning…