Related papers: Analysis and Design of Strongly Stabilizing PID Co…
In this work, we propose the design and analysis of a novel continuous robust controller for a class of multi--input multi--output (MIMO) nonlinear uncertain systems. The systems under consideration contains unstructured uncertainties in…
The present paper is mainly aimed at introducing a novel notion of stability of nonlinear time-delay systems called Rational Stability. According to the Lyapunov-type, various sufficient conditions for rational stability are reached. Under…
This paper describes the design of a robust controller for position control in systems with sandwiched backlash. The backlash, which is nonsmooth and nonlinear, is inevitable in the operation of many systems, but it can have destructive…
We study the stabilization of networked control systems with asynchronous sensors and controllers. Offsets between the sensor and controller clocks are unknown and modeled as parametric uncertainty. First we consider multi-input linear…
This paper provides an alternative approach referred to as pseudo-predictor feedback (PPF) for stabilization of linear systems with multiple input delays. Differently from the traditional predictor feedback which is from the model reduction…
In this letter, we analytically investigate the sensitivity of stability index to its dependent variables in general power systems. Firstly, we give a small-signal model, the stability index is defined as the solution to a semidefinite…
We address a distributed adaptive control methodology for nonlinear interconnected systems possibly affected by network anomalies. In the framework of adaptive approximation, the distributed controller and parameter estimator are designed…
We analyze a classification of two main families of controllers that are of interest when the feedback loop is subject to switching propagation delays due to routing via a wireless multi-hop communication network. We show that we can cast…
TDS-CONTROL is an integrated MATLAB package for the analysis and controller-design of linear time-invariant (LTI) dynamical systems with (multiple) discrete delays, supporting both systems of retarded and neutral type. TDS-CONTROL is based…
In this paper we present a switching control strategy to incrementally stabilize a class of nonlinear dynamical systems. Exploiting recent results on contraction analysis of switched Filippov systems derived using regularization, sufficient…
The key idea behind PID Passivity-based Control (PID-PBC) is to leverage the passivity property of PIDs (for all positive gains) and wrap the PID controller around a passive output to ensure global stability in closed-loop. However, the…
The robustness of the stability properties of dynamical systems in the presence of unknown/adversarial perturbations to system parameters is a desirable property. In this paper, we present methods to efficiently compute and improve the…
We consider the task of motion control for non-prehensile manipulation using parallel kinematics mechatronic setup, in particular, stabilization of a ball on a plate under unmeasured external harmonic disturbances. System parameters are…
This paper discusses the in-domain feedback stabilization of reaction-diffusion PDEs with Robin boundary conditions in the presence of an uncertain time- and spatially-varying delay in the distributed actuation. The proposed control design…
This work studies data-driven switched controller design for discrete-time switched linear systems. Instead of having access to the full system dynamics, an initialization phase is performed, during which noiseless measurements of the state…
This paper studies a class of random nonlinear systems with time-varying delay, in which the $r$-order moment ($r\geq1$) of the random disturbance is finite. Firstly, some general conditions are proposed to guarantee the existence and…
We present stability conditions for deterministic time-varying nonlinear discrete-time systems whose inputs aim to minimize an infinite-horizon time-dependent cost. Global asymptotic and exponential stability properties for general…
This paper presents a new method for dynamic output feedback stabilizing controller design for decomposable systems with switching topology and delay. Our approach consists of two steps. In the first step, we model the decomposable systems…
A key property for systems subject to uncertainty in their operating environment is robustness, ensuring that unmodelled, but bounded, disturbances have only a proportionally bounded effect upon the behaviours of the system. Inspired by…
The complexity of modern control systems necessitates architectures that achieve high performance while ensuring robust stability, particularly for nonlinear systems. In this work, we tackle the challenge of designing output-feedback…