Related papers: Tuning Rules for a Class of Passivity-Based Contro…
We consider the problem of designing a feedback controller which robustly regulates an LTI system to an optimal operating point in the presence of unmeasured disturbances. A general design framework based on so-called optimality models was…
In this paper, we will discuss how operational limitations affect input-output behaviours of the system. In particular, we will provide formulations for passivity and passivity indices of a nonlinear system given operational limitations on…
In this research we consider linear time-invariant plants and assume that the regressor finite excitation requirement is met. In such case, a new law to adjust the controller parameters, which ensures the exponential stability of the…
We develop a predictor-feedback control design for multi-input nonlinear systems with distinct input delays, of arbitrary length, in each individual input channel. Due to the fact that different input signals reach the plant at different…
This work presents a new sufficient condition for synthesizing nonlinear controllers that yield bounded closed-loop tracking error transients despite the presence of unmatched uncertainties that are concurrently being learned online. The…
A novel adaptive control approach is proposed to solve the globally asymptotic state stabilization problem for uncertain pure-feedback nonlinear systems which can be transformed into the pseudo-affine form. The pseudo-affine pure-feedback…
In this paper, a compressor system is analyzed in order to show its characteristics and design a control scheme to improve its efficiency. A mathematical technique has been created to forecast the onset of surge and instability in a…
In this paper, we propose a novel dynamic state-feedback controller for polytopic linear parameter-varying (LPV) systems with constant input matrix. The controller employs a projected gradient flow method to continuously improve its control…
We present a full review of PID passivity-based controllers (PBC) applied to power electronic converters, discussing limitations, unprecedented merits and potential improvements in terms of large-signal stability, robustness and…
In this paper a new optimum tuning method of PI controllers in first-order time-delay systems, based on the deadbeat response to a step setpoint variation, is presented. The deadbeat performance, already studied for the plants without…
We study the control of networked systems with the goal of optimizing both transient and steady-state performances while providing stability guarantees. Linear proportional-integral (PI) controllers are almost always used in practice, but…
This paper proposes an adaptive control allocation approach for uncertain over-actuated systems with actuator saturation. The proposed method does not require uncertainty estimation or a persistent excitation assumption. Using the…
In this work, we derive dynamic output-feedback controllers that render the closed-loop system externally positive. We begin by expressing the class of discrete-time, linear, time-invariant systems and the class of dynamic controllers in…
In this study, we present a novel sliding mode safety-critical controller designed to address both stability and safety concerns in a class of nonlinear uncertain systems. The controller features two feedback loops: an inner loop designed…
Impedance control is a well-established technique to control interaction forces in robotics. However, real implementations of impedance control with an inner loop may suffer from several limitations. Although common practice in designing…
In this paper, we propose a novel safe, passive, and robust control law for mechanical systems. The proposed approach addresses safety from a physical human-robot interaction perspective, where a robot must not only stay inside a…
A learning method is proposed for Koopman operator-based models with the goal of improving closed-loop control behavior. A neural network-based approach is used to discover a space of observables in which nonlinear dynamics is linearly…
We develop a tracking model predictive control (MPC) scheme for nonlinear systems using the linearized dynamics at the current state as a prediction model. Under reasonable assumptions on the linearized dynamics, we prove that the proposed…
A variety of control systems have been proposed for aircraft autopilot systems. Traditional approaches such as proportional controller and conventional PID (CPID) controller are widely used. PID controller has a good static performance…
The integral control of positive systems using nonnegative control input is an important problem arising, among others, in biochemistry, epidemiology and ecology. An immediate solution is to use an ON-OFF nonlinearity between the controller…