Related papers: Lecture Notes on Control System Theory and Design
This paper considers the problem of regulating a linear dynamical system to the solution of a convex optimization problem with an unknown or partially-known cost. We design a data-driven feedback controller - based on gradient flow dynamics…
Recent years have witnessed the rapid advancement of understanding the control mechanism of networked dynamical systems (NDSs), which are governed by components such as nodal dynamics and topology. This paper reveals that the critical…
These lecture notes cover the DC Optimal Power and AC Optimal Power Flow formulations, as well as the Economic Dispatch for Power Systems. Their aim is to supplement the study material for the course "31765: Optimization in modern power…
This is a brief introduction to control theory in finite-dimensional spaces. The material is partly based on my lectures for the Master 1 program in Math\'ematiques et applications at Sorbonne University, delivered over the past few years.…
This paper considers the problem of controlling a dynamical system when the state cannot be directly measured and the control performance metrics are unknown or partially known. In particular, we focus on the design of data-driven…
Coherent feedback is a non-measurement based, hence a back-action free, method of control for quantum systems. A typical application of this control scheme is squeezing enhancement, a purely non-classical effect in quantum optics. In this…
One of the most important branches of nonlinear control theory is the so-called sliding-mode. Its aim is the design of a (nonlinear) feedback law that brings and maintains the state trajectory of a dynamic system on a given sliding surface.…
We investigate feedback control of linear quantum systems subject to feedback-loop time delays. In particular, we examine the relation between the potentially achievable control performance and the time delays, and provide theoretical…
Robotic control systems are increasingly relying on distributed feedback controllers to tackle complex sensing and decision problems such as those found in highly articulated human-centered robots. These demands come at the cost of a…
Real-world control applications in complex and uncertain environments require adaptability to handle model uncertainties and robustness against disturbances. This paper presents an online, output-feedback, critic-only, model-based…
We present a method for providing statistical guarantees on runtime safety and goal reachability for integrated planning and control of a class of systems with unknown nonlinear stochastic underactuated dynamics. Specifically, given a…
This paper addresses the design of robust dynamic output feedback control for highly uncertain systems in which the unknown disturbance might be excited by the derivative of the control input. This context appears in many industrial…
One approach for feedback control using high dimensional and rich sensor measurements is to classify the measurement into one out of a finite set of situations, each situation corresponding to a (known) control action. This approach…
Hybrid systems have steadily grown in popularity over the last few decades because they ease the task of modeling complicated nonlinear systems. Legged locomotion, robotic manipulation, and additive manufacturing are representative examples…
Delays and data losses are undesirable from a control system perspective as they tend to adversely affect performance Networked Control Systems (NCSs) are a class of control systems wherein control components exchange information using a…
Layout Synthesis for Quantum Computing (LSQC) is a critical component of quantum design tools. Traditional LSQC studies primarily focus on optimizing for reduced circuit depth by adopting a device-centric design methodology. However, these…
In this series of lectures, we would like to introduce the audience to quantum optimal control. The first lecture will cover basic ideas and principles of optimal control with the goal of demystifying its jargon. The second lecture will…
Emphasis is on 2d target space (c=1 coupled to gravity). Contents: 0. Introduction, Overview, and Purpose 1. Loops and States in Conformal Field Theory 2. 2D Euclidean Quantum Gravity I: Path Integral Approach 3. Brief Review of the…
In this article we present a novel discrete-time design approach which reduces the deteriorating effects of sampling on stability and performance in digitally controlled nonlinear mechanical systems. The method is motivated by recent…
Controlling continuous-time dynamical systems is generally a two step process: first, identify or model the system dynamics with differential equations, then, minimize the control objectives to achieve optimal control function and optimal…