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We present a finite-time framework for identifying stable and unstable linear time-invariant (LTI) systems from a single closed-loop input-output trajectory. The method does not require knowledge of the stabilizing controller, an…

Identifying and controlling an unstable, underactuated robot to enable reference tracking is a challenging control problem. In this paper, a ballbot (robot balancing on a ball) is used as an experimental setup to demonstrate and test…

Sensitivity-based Finite Element Model Updating (FEMU) is one of the widely accepted techniques used for damage identification in structures. FEMU can be formulated as a numerical optimization problem and solved iteratively making automatic…

Large-aperture coprime arrays (CAs) are expected to achieve higher sensing resolution than conventional dense arrays (DAs), yet with lower hardware and energy cost. However, existing CA far-field localization methods cannot be directly…

We tackle the problem of system identification, where we select inputs, observe the corresponding outputs from the true system, and optimize the parameters of our model to best fit the data. We propose a practical and computationally…

The paper describes the robust algorithm for linear time-invariant plants under parametric uncertainties, external disturbances and high-frequency noises in measurements. The proposed algorithm allows one to reduce the noise impact on the…

This paper presents a system identification technique for systems whose output is asymptotically periodic under constant inputs. The model used for system identification is a discrete-time Lur'e model consisting of asymptotically stable…

We present modifications of the second-order Douglas stabilizing corrections method, which is a splitting method based on the implicit trapezoidal rule. Inclusion of an explicit term in a forward Euler way is straightforward, but this will…

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 paper presents the integration of constraint propagation and dual proof analysis in an exact, roundoff-error-free MIP solver. The authors employ safe rounding methods to ensure that all results remain provably correct, while…

We present a novel approach to control design for nonlinear systems which leverages model-free policy optimization techniques to learn a linearizing controller for a physical plant with unknown dynamics. Feedback linearization is a…

A principled approach to the design of program verification and con- struction tools is applied to separation logic. The control flow is modelled by power series with convolution as separating conjunction. A generic construction lifts…

Fault detection and isolation on hydraulic systems are very important to ensure safety and avoid disasters. In this paper, a fault detection and isolation method, based on the flatness property of nonlinear systems, is experimentally…

Fully Homomorphic Encryption (FHE) has made it possible to perform addition and multiplication operations on encrypted data. Using FHE in control thus has the advantage that control effort for a plant can be calculated remotely without ever…

Ensuring that safety-critical applications behave as intended is an important yet challenging task. Modeling languages like differential dynamic logic (dL) have proof calculi capable of proving guarantees for such applications. However, dL…

This paper focuses on robust stability and $H_\infty$ performance analyses of hybrid continuous/discrete time linear multi-rate control systems in the presence of parametric uncertainties. These affect the continuous-time plant in a…

Classical discrete-time adaptive controllers provide asymptotic stabilization. While the original adaptive controllers did not handle noise or unmodelled dynamics well, redesigned versions were proven to have some tolerance; however,…

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…

Multigrid methods are popular for solving linear systems derived from discretizing PDEs. Local Fourier Analysis (LFA) is a technique for investigating and tuning multigrid methods. P-multigrid is popular for high-order or spectral finite…

Many discrete optimization problems are amenable to constrained shortest-path reformulations in an extended network space, a technique that has been key in convexification, bound strengthening, and search. In this paper, we propose a…