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We study delay-induced transitions in consensus dynamics on signed networks with a ring topology. The proposed model is formulated as a system of delay differential equations incorporating both cooperative and antagonistic interactions, as…
We present a controller tuning strategy for first-order plus time delay (FOPTD) processes, where the time delay in the model is approximated using the Pad\'e function. Using Routh-Hurwitz stability analysis, we derive the gain that gives…
Prediction-based transformation is applied to control-affine systems with distributed input delays. Transformed system state is calculated as a prediction of the system's future response to the past input with future input set to zero.…
In this paper, we introduce a novel approach to solve the (mean-covariance) steering problem for a fairly general class of linear continuous-time stochastic systems subject to input delays. Specifically, we aim at steering delayed linear…
We demonstrate that time-delayed feedback control can be improved by adaptively tuning the feedback gain. This adaptive controller is applied to the stabilization of an unstable fixed point and an unstable periodic orbit embedded in a…
Proportional-integral-derivative (PID) controllers have been widely used in the process industry. However, the satisfactory control performance of a PID controller depends strongly on the tuning parameters. Conventional PID tuning methods…
We propose and analyze a stabilizing iteration scheme for the algorithmic implementation of model predictive control for linear discrete-time systems. Polytopic input and state constraints are considered and handled by means of so-called…
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…
A fully analytical controller design is proposed to tackle a periodic control problem for stable linear systems with an input delay. Applying the internal model control scheme, the controller design reduces to designing a filter, which is…
Local-remote systems allow robots to execute complex tasks in hazardous environments such as space and nuclear power stations. However, establishing accurate positional mapping between local and remote devices can be difficult due to time…
Electrolysis systems use proportional-integral-derivative (PID) temperature controllers to maintain stack temperatures around set points. However, heat transfer delays in electrolysis systems cause manual tuning of PID temperature…
We consider an interlinked production model consisting of conservation laws (PDE) coupled to ordinary differential equations (ODE). Our focus is the analysis of control laws for the coupled system and corresponding stabilization questions…
We propose a human-supervised control synthesis method for a stochastic Dubins vehicle such that the probability of satisfying a specification given as a formula in a fragment of Probabilistic Computational Tree Logic (PCTL) over a set of…
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…
The general context of this work is the feedback control of an infinite-dimensional system so that the closed-loop system satisfies a fading-memory property and achieves the setpoint tracking of a given reference signal. More specifically,…
This paper proposes a reinforcement learning (RL) framework for controlling and stabilizing the Twin Rotor Aerodynamic System (TRAS) at specific pitch and azimuth angles and tracking a given trajectory. The complex dynamics and non-linear…
In this paper, a new model based nonlinear control technique, called PID (Proportional-Integral-Derivative) type sliding surface based sliding mode control is designed using improved reaching law. To improve the performance of the second…
Discrete-time systems under aperiodic sampling may serve as a modeling abstraction for a multitude of problems arising in cyber-physical and networked control systems. Recently, model- and data-based stability conditions for such systems…
This paper studies the problem of stabilization of a nonlinear system with time-varying delays in both sensing and actuation using event-triggered control. Our proposed strategy seeks to opportunistically minimize the number of control…
A backstepping-based compensator design is developed for a system of $2\times2$ first-order linear hyperbolic partial differential equations (PDE) in the presence of an uncertain long input delay at boundary. We introduce a transport PDE to…