Related papers: A Trajectory-Based Approach to Discrete-Time Flatn…
We show that the Euler-discretization of the nonlinear continuous-time model of a single mast stacker crane is flat. The construction of the flat output is based on a transformation of a subsystem into the linear time-variant discrete-time…
In one-dimensional random walks, the waiting time for each direction transitions is the same, even in the presence of bias, as a consequence of the microscopic-reversibility. We study the symmetry breaking of forward/ backward transition…
Continuous time (CT) and discrete time (DT) linear time invariant (LTI) systems are commonly introduced through distinct mathematical formalisms, which can obscure their underlying dynamical equivalence. This tutorial presents a unified…
Time delayed feedback control is one of the most successful methods to discover dynamically unstable features of a dynamical system in an experiment. This approach feeds back only terms that depend on the difference between the current…
We develop a method to control discrete-time systems with constant but initially unknown parameters from linear temporal logic (LTL) specifications. We introduce the notions of (non-deterministic) parametric and adaptive transition systems…
This work studies the design problem of feedback stabilizers for discrete-time systems with input delays. A backstepping procedure is proposed for disturbance-free discrete-time systems. The feedback law designed by using backstepping…
Using the properties of differential flatness, a controllable system, such as a quadcoper model, may be transformed into a linear equivalent system via a coordinate change and an input mapping. This is a straightforward advantage for the…
This chapter presents an approach to embed the input/state/output constraints in a unified manner into the trajectory design for differentially flat systems. To that purpose, we specialize the flat outputs (or the reference trajectories) as…
This paper introduces operators, semantics, characterizations, and solution-independent conditions to guarantee temporal logic specifications for hybrid dynamical systems. Hybrid dynamical systems are given in terms of differential…
It is known that the gradient method can be viewed as a dynamic system where various iterative schemes can be designed as a part of the closed loop system with desirable properties. In this paper, the finite-time and fixed-time convergence…
It is known that input-output approaches based on scaled small-gain theorems with constant $D$-scalings and integral linear constraints are non-conservative for the analysis of some classes of linear positive systems interconnected with…
The cavity method is one of the cornerstones of the statistical physics of disordered systems such as spin glasses and other complex systems. It is able to analytically and asymptotically exactly describe the equilibrium properties of a…
In this work we show that the differential kinematics of slider-pusher systems are differentially flat assuming quasi-static behaviour and frictionless contact. Second we demonstrate that the state trajectories are invariant to…
Stability and bifurcation properties of one-dimensional discrete dynamical systems with positivity, which are derived from continuous ones by tropical discretization, are studied. The discretized time interval is introduced as a bifurcation…
Recent investigations on the longitudinal and lateral control of wheeled autonomous vehicles are reported. Flatness-based techniques are first introduced via a simplified model. It depends on some physical parameters, like cornering…
Hybrid dynamical systems have proven to be a powerful modeling abstraction, yet fundamental questions regarding the dynamical properties of these systems remain. In this paper, we develop a novel class of relaxations which we use to recover…
We here show that the family of finite-dimensional, discrete-time, passive, linear time-invariant systems can be characterized through the structure of maximal, matrix-convex set, closed under multiplication among its elements. Moreover,…
Standard dynamical systems theory is centred around the coordinate-invariant asymptotic-time properties of autonomous systems. We identify three limitations of this approach. Firstly, we discuss how the traditional approach cannot take into…
This paper is devoted to the characterization of differentially flat nonlinear systems in implicit representation, after elimination of the input variables, in the differential geometric framework of manifolds of jets of infinite order. We…
We develop a formal framework for the behavioral comparison of linear systems across different time domains. We accomplish this by introducing the notion of system interpolation, which determines whether the input-state trajectories of a…