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Recently developed control methods with strong disturbance rejection capabilities provide a useful option for control design. The key lies in a general concept of disturbance and effective ways to estimate and compensate the disturbance.…
Recently, it has been observed that finite impulse response controllers are an excellent basis for encrypted control, where privacy-preserving controller evaluations via special cryptosystems are the main focus. Beneficial properties of FIR…
It is well-understood that the robustness of mechanical and robotic control systems depends critically on minimizing sensitivity to arbitrary application-specific details whenever possible. For example, if a system is defined and performs…
The feedback linearization method is further developed for the controller design on general nonlinear systems. Through the Lyapunov stability theory, the intractable nonlinear implicit algebraic control equations are effectively solved, and…
In mathematics and engineering, control theory is concerned with the analysis of dynamical systems through the application of suitable control inputs. One of the prominent problems in control theory is controllability which concerns the…
We consider the problem of designing a state-feedback controller for a linear system, based only on noisy input-state data. We focus on input-state data corrupted by measurement errors, which, albeit less investigated, are as relevant as…
This technical report presents a method for designing a constrained output-feedback model predictive controller (MPC) that behaves in the same way as an existing baseline stabilising linear time invariant output-feedback controller when…
Robust output regulation for linear time-varying systems has remained an open problem for decades. To address this, we propose the trajectory-matching system immersion framework, by reformulating the regulator equation into a more…
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…
Modern control systems must operate in increasingly complex environments subject to safety constraints and input limits, and are often implemented in a hierarchical fashion with different controllers running at multiple time scales. Yet…
This paper proposes an simple but yet effective approach to structured parametric controller design in a linear fractional form. The main contribution consists in using structured $\mathcal{H}_\infty$ oriented optimization tools in an…
We consider abstraction-based design of output-feedback controllers for non-linear dynamical systems against specifications over state-based predicates in linear-time temporal logic (LTL). In this context, our contribution is two-fold: (I)…
This paper formulates adaptive controller design as a minimax dual control problem. The objective is to design a controller that minimizes the worst-case performance over a set of uncertain systems. The uncertainty is described by a set of…
Linearising the dynamics of nonlinear mechanical systems is an important and open research area. A common approach is feedback linearisation, which is a nonlinear control method that transforms the input-output response of a nonlinear…
This paper investigates the design of decentralized output-feedback controllers for a class of a large scale switched nonlinear systems under arbitrary switching laws. A global large scale switched system can be split into a set of smaller…
In the last years, the success of kernel-based regularisation techniques in solving impulse response modelling tasks has revived the interest on linear system identification. In this work, an alternative perspective on the same problem is…
This paper studies the identification of nonlinearly parameterized control systems in given experiments. Several identifiability criteria are established and an implementable algorithm is proposed for practicality with the convergence rate…
This paper develops adaptive output tracking control schemes with the reference output signal generated from an unknown reference system whose output derivatives are also unknown. To deal with such reference system uncertainties, an…
We study the Rectified Linear Unit (ReLU) dual, an existing dual formulation for stochastic programs that reformulates non-anticipativity constraints using ReLU functions to generate tight, non-convex, and mixed-integer representable cuts.…
Transient stability of power systems is becoming increasingly important because of the growing integration of renewable resources. These resources lead to a reduction in mechanical inertia but also provide increased flexibility in frequency…