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This article presents proposals for the design of reduced-order controllers for high-dimensional dynamical systems. The objective is to develop efficient control strategies that ensure stability and robustness with reduced computational…
We discuss the multilevel control problem for linear dynamical systems, consisting in designing a piece-wise constant control function taking values in a finite-dimensional set. In particular, we provide a complete characterization of…
We propose a feedback scheme to control the vibrational motion of a single trapped particle based on indirect measurements of its position. It results the possibility of a motional phase space uncertainty contraction, correponding to cool…
Feedback loops are major components of biochemical systems. Many systems show multiple such (positive or negative) feedback loops. Nevertheless, very few quantitative analyses address the question how such multiple feedback loops evolved.…
In a multivariable servomechanism design, it is required that the output vector tracks a certain reference vector while satisfying some desired transient specifications, for this purpose a 2DOF control law consisting of state feedback gain…
In this note we study the generation of attractive oscillations of a class of mechanical systems with underactuation one. The proposed design consists of two terms, i.e., a partial linearizing state feedback, and an immersion and invariance…
The stabilization of unstable nonlinear systems and tracking control are challenging engineering problems due to the encompassed nonlinearities in dynamic systems and their scale. In the past decades, numerous observer-based control designs…
In this paper, we introduce a new iterative method which we call one step back approach: the main idea is to anticipate the consequence of the iterative computation per coordinate and to optimize on the choice of the sequence of the…
This paper proposes a novel two-layer Volt/VAR control (VVC) framework to regulate the voltage profiles across an unbalanced active distribution system, which achieves both the efficient open-loop optimization and accurate closed-loop…
Considering that the physical design of printed circuit board (PCB) follows the principle of modularized design, this paper proposes an automatic placement algorithm for functional modules. We first model the placement problem as a…
In this paper, various Miller-compensated amplifiers are analyzed by using the two-port feedback analysis together with the root-locus diagram. The proposed analysis solves problems of Miller theorem/approximation that fail to predict a…
This paper aims to show that robots equipped with a vision-based tactile sensor can perform dynamic manipulation tasks without prior knowledge of all the physical attributes of the objects to be manipulated. For this purpose, a robotic…
Visual Servoing has been effectively used to move a robot into specific target locations or to track a recorded demonstration. It does not require manual programming, but it is typically limited to settings where one demonstration maps to…
By computing a feedback control via the linear quadratic regulator (LQR) approach and simulating a non-linear non-autonomous closed-loop system using this feedback, we combine two numerically challenging tasks. For the first task, the…
We present a new type of feedback linearization that is tailored for mechanical control systems. We call it a mechanical feedback linearization. Its basic feature is preservation of the mechanical structure of the system. For mechanical…
It is well known that the conventional quadrotor is an under-actuated MIMO system. The number of the inputs is less than the degree of freedom. One approach in controlling this non-holonomic system is feedback linearization. In the…
This paper presents a two-stage zonal Volt/VAR control scheme for coordinating inverter-based resources (IBR) with utility-owned voltage regulators (VR) to regulate voltage in unbalanced 3-phase distribution systems. First, correlations…
In this paper, a new pedagogical approach for analyzing the negative feedback circuits is proposed. The presented approach is in fact the completed form of the well-known two-port network analysis which is the most intuitive method for…
The problem of step tracking control with a switching input and without any continuous-valued inputs is considered. The control objective is to reduce the number of switchings to a minimal value. This approach finds interesting applications…
Feedback optimization is a control paradigm that enables physical systems to autonomously reach efficient operating points. Its central idea is to interconnect optimization iterations in closed-loop with the physical plant. Since iterative…