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Text embedding models play a crucial role in natural language processing, particularly in information retrieval, and their importance is further highlighted with the recent utilization of RAG (Retrieval- Augmented Generation). This study…
The LLRF of five of TRIUMF's ISAC-1 accelerator cavities have been replaced by 3 similar FPGA based system with different operating frequencies. These LLRF use internal digital phase locked loops for frequency generation and…
This paper presents a mathematical approach for improving the performance of a control system by modifying the time delay at certain operating conditions. This approach converts a continuous time loop into a discrete time loop. The formula…
The growing complexity of modern control tasks calls for controllers that can react online as objectives and disturbances change, while preserving closed-loop stability. Recent approaches for improving the performance of nonlinear systems…
Deep reinforcement learning (DRL) has seen several successful applications to process control. Common methods rely on a deep neural network structure to model the controller or process. With increasingly complicated control structures, the…
Due to the rapid developments in synchronized measurement technologies, there exist enormous opportunities to attenuate disturbances in future power grids with high penetration of renewables and complex load demands. To that end, this paper…
Control of systems where the information between the controller, actuator, and sensor can be lost or delayed can be challenging with respect to stability and performance. One way to overcome the resulting problems is the use of prediction…
Reset control has emerged as a viable alternative to popular PID, capable of outperforming and overcoming the linear limitations. However, in motion control systems, quantization can cause severe performance degradation. This paper…
This paper proposes a novel load frequency control (LFC) approach formulated on an optimal structure of the coefficient diagram method (CDM) in a two-area thermal power system. As part of a realistic analysis, nonlinearities related to…
This paper presents a novel approach to robust load disturbance rejection in DC-DC Buck converters. We propose a novel control scheme based on the design of two nested feedback loops. First, we design the controller in the outer loop using…
We present the stability analysis for the new regulation-triggered approach to adaptive control introduced in a companion paper. Due to the fact that the closed-loop system is hybrid, our proofs have essential differences from the…
The precision motion industry has an ever-increasing demand for faster, more precise and more robust controllers. From the perspective of frequency domain and loopshaping technique, this demand has pushed the linear controllers to their…
An estimation problem of fundamental interest is that of phase synchronization, in which the goal is to recover a collection of phases using noisy measurements of relative phases. It is known that in the Gaussian noise setting, the maximum…
With the increasing penetration of renewable energy sources, grid-forming (GFM) inverters are becoming essential for voltage and frequency regulation. However, the transient stability of GFM inverter is critically affected by the current…
These lectures demonstrate the development of a PID control framework for mechanical systems. Based on the observation that mechanical systems are essentially double integrator systems, we generalize the linear PID controller to mechanical…
This paper enhances the feedback linearization controller for multirotors with a learned acceleration error model and a thrust input delay mitigation model. Feedback linearization controllers are theoretically appealing but their…
Controller design for nonlinear systems with Control Lyapunov Function (CLF) based quadratic programs has recently been successfully applied to a diverse set of difficult control tasks. These existing formulations do not address the gap…
This paper proposes a technique for automatic gain tuning of a momentum based balancing controller for humanoid robots. The controller ensures the stabilization of the centroidal dynamics and the associated zero dynamics. Then, the…
A Pulse-Compression Probing (PCP) method is applied in time-domain to identify an equivalent circuit model of a distribution network as seen from the transmission grid. A Pseudo-Random Binary Pulse Train (PRBPT) is injected as a voltage…
Model predictive control (MPC) has been applied to many platforms in robotics and autonomous systems for its capability to predict a system's future behavior while incorporating constraints that a system may have. To enhance the performance…