Related papers: Separating Controller Design from Closed-Loop Desi…
This article surveys the System Level Synthesis framework, which presents a novel perspective on constrained robust and optimal controller synthesis for linear systems. We show how SLS shifts the controller synthesis task from the design of…
Biological and advanced cyberphysical control systems often have limited, sparse, uncertain, and distributed communication and computing in addition to sensing and actuation. Fortunately, the corresponding plants and performance…
Design of optimal distributed linear feedback controllers to achieve a desired aggregate behavior, while simultaneously satisfying state and input constraints, is a challenging but important problem in many applications. System level…
System Level Synthesis (SLS) parametrization facilitates controller synthesis for large, complex, and distributed systems by incorporating system level constraints (SLCs) into a convex SLS problem and mapping its solution to stable…
This paper addresses the problem of designing distributed controllers with state and input constraints in the System Level Synthesis (SLS) framework. Using robust optimization, we show how state and actuation constraints can be incorporated…
We present a novel class of nonlinear controllers that interpolates among differently behaving linear controllers as a case study for recently proposed Linear and Nonlinear System Level Synthesis framework. The structure of the nonlinear…
Synthesizing controllers for large, complex, and distributed systems is a challenging task. Numerous proposed methods exist in the literature, but it is difficult for practitioners to apply them -- most proposed synthesis methods lack…
System Level Synthesis (SLS) allows us to construct internally stabilizing controllers for large-scale systems. However, solving large-scale SLS problems is computationally expensive and the state-of-the-art methods consider only state…
We consider the optimal distributed controller design problem subject to two structural requirements: locality, i.e. available measurements and sub-controllers' interactions are governed by a graph structure, and relative feedback, i.e.…
A major challenge faced in the design of large-scale cyber-physical systems, such as power systems, the Internet of Things or intelligent transportation systems, is that traditional distributed optimal control methods do not scale…
This paper designs H2 and H-infinity distributed controllers with local communication and local disturbance rejection. We propose a two-step procedure: first, select closed-loop poles; then, optimize over parameterized controllers. We build…
There is an increasing need for effective control of systems with complex dynamics, particularly through data-driven approaches. System Level Synthesis (SLS) has emerged as a powerful framework that facilitates the control of large-scale…
We introduce a method for controlling systems with nonlinear dynamics and full actuation by approximating the dynamics with polynomials and applying a system level synthesis controller. We show how to optimize over this class of controllers…
A reset controller plays a crucial role in designing hybrid systems. It restricts the initial set and redefines the reset map associated with discrete transitions, in order to guarantee the system to achieve its objective. Reset controller…
In this article, we study the linear time-invariant state-feedback controller design problem for distributed systems. We follow the recently developed system level synthesis (SLS) approach and impose locality structure on the resulting…
We consider the problem of automatically synthesizing a hybrid controller for non-linear dynamical systems which ensures that the closed-loop fulfills an arbitrary \emph{Linear Temporal Logic} specification. Moreover, the specification may…
This paper presents a convex optimization-based solution to the design of state-feedback controllers for solving the linear quadratic regulator (LQR) problem of uncertain discrete-time systems with multiplicative noise. To synthesize a…
Distributed linear control design is crucial for large-scale cyber-physical systems. It is generally desirable to both impose information exchange (communication) constraints on the distributed controller, and to limit the propagation of…
We consider the problem of designing distributed controllers to guarantee dissipativity of a networked system comprised of dynamically coupled subsystems. We require that the control synthesis is carried out locally at the subsystem-level,…
System level synthesis is a promising approach that formulates structured optimal controller synthesis problems as convex problems. This work solves the distributed linear-quadratic regulator problem under communication constraints directly…