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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…
In this study, a distinct reconfigurable fault-tolerant flight control strategy is addressed for mitigating one of the persistent safety-critical issue, i.e. loss of control triggered by actuator faults. The attainable acceleration set…
This paper presents a robust cascaded control architecture for over-actuated multirotors. It extends the Incremental Nonlinear Dynamic Inversion (INDI) control combined with structured H_inf control, initially proposed for under-actuated…
This paper develops a multivariable current control strategy for inverter-based resources (IBRs) based on optimal control theory to enhance their dynamic performance and grid synchronization stability. The structure of the implemented…
This paper analyzes distributed control protocols for first- and second-order networked dynamical systems. We propose a class of nonlinear consensus controllers where the input of each agent can be written as a product of a nonlinear gain,…
A desirable property in fault-tolerant controllers is adaptability to system changes as they evolve during systems operations. An adaptive controller does not require optimal control policies to be enumerated for possible faults. Instead it…
We analyze in this paper the effect of the well known intelligent proportional controller on the stability of linear control systems. Inspired by the literature on neutral time delay systems and advanced type systems, we derive sufficient…
Imitation learning enables the synthesis of controllers for complex objectives and highly uncertain plant models. However, methods to provide stability guarantees to imitation learned controllers often rely on large amounts of data and/or…
Efficiently computable stability and performance analysis of nonlinear systems becomes increasingly more important in practical applications. Dissipativity can express stability and performance jointly, but existing results are limited to…
The performance of a conventional model-based controller significantly depends on the accuracy of the modeled dynamics. The model of a plant's dynamics is subjected to errors in estimating the numerical values of the physical parameters,…
As the systems we control become more complex, first-principle modeling becomes either impossible or intractable, motivating the use of machine learning techniques for the control of systems with continuous action spaces. As impressive as…
Differential balancing theory for nonlinear model reduction relies on differential controllability and observability functions. In this paper, we further investigate them from two different perspectives. First, we establish novel…
This paper presents a new control, namely additive-state-decomposition dynamic inversion stabilized control, that is used to stabilize a class of multi-input multi-output (MIMO) systems subject to nonparametric time-varying uncertainties…
Relaxed conditions are given for stability of a feedback system consisting of an exponentially stable multi-input multi-output nonlinear plant and an integral controller. Roughly speaking, it is shown that if the composition of the plant…
This paper investigates the fundamental information-theoretic limits for the control and sensing of noiseless linear dynamical systems subject to a broad class of nonlinear observations. We analyze the interactions between the control and…
The work considers the design of an indirect adaptive controller for a satellite equipped with a robotic arm manipulating an object. Uncertainty on the manipulated object can considerably impact the overall behavior of the system. In…
Direct torque control is considered as one of the most efficient techniques for speed and/or position tracking control of induction motor drives. However, this control scheme has several drawbacks: the switching frequency may exceed the…
In this paper, we consider a nonlinear networked control system (NCS) in which controllers, sensors and actuators are connected via several communication links. In each link, networking effects such as the transmission delay, packet loss,…
Incremental stability properties are considered for certain systems of forced, nonlinear differential equations with a particular positivity structure. An incremental stability estimate is derived for pairs of input/state/output…
This paper addresses the problem of optimal robust stabilization of a discrete-time minimum-phase plant in the framework of robust control theory in the $\ell_1$ setup and under poor a priori information. Coefficients of the transfer…