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Time scale separation is a natural property of many control systems that can be ex- ploited, theoretically and numerically. We present a numerical scheme to solve optimal control problems with considerable time scale separation that is…
In this paper, we present an approach for designing correct-by-design controllers for cyber-physical systems composed of multiple dynamically interconnected uncertain systems. We consider networked discrete-time uncertain nonlinear systems…
The main goal of this contribution is to explain how to use interlacing techniques for LTI controllers implementation and analyze different struc- tures in this environment. These considerations lead to an important com- putation saving in…
Timeout control is a simple mechanism used when direct feedback is either impossible, unreliable, or too costly, as is often the case in distributed systems. Its effectiveness is determined by a timeout threshold parameter and our goal is…
Autonomous control systems use various sensors to decrease the amount of uncertainty under which they operate. While providing partial observation of the current state of the system, sensors require resources such as energy, time and…
We will show that there is a universal connection between the achievable closed-loop dynamics and the corresponding feedback controller that produces it. This connection shows promise to lead to new methods for robust nonlinear control in…
The increasing integration of power electronic devices is driving the development of more advanced tools and methods for the modeling, analysis, and control of modern power systems to cope with the different time-scale oscillations. In this…
In this paper, a data-driven approach is developed for controller design for a class of discrete-time large-scale systems, where a large-scale system can be expressed in an equivalent data-driven form and the decentralized controllers can…
This paper proposes a distributed design method of controllers having a glocal (global/local) information structure for large-scale network systems. Distributed design, independent design of all subcontrollers that constitute a structured…
When multiple model predictive controllers are implemented on a shared control area network (CAN), their performance may degrade due to the inhomogeneous timing and delays among messages. The priority based real-time scheduling of messages…
We study the temporal robustness of temporal logic specifications and show how to design temporally robust control laws for time-critical control systems. This topic is of particular interest in connected systems and interleaving processes…
Layered control architectures have been a standard paradigm for efficiently managing complex constrained systems. A typical architecture consists of: i) a higher layer, where a low-frequency planner controls a simple model of the system,…
A control design approach is developed for a general class of uncertain strict-feedback-like nonlinear systems with dynamic uncertain input nonlinearities with time delays. The system structure considered in this paper includes a nominal…
The paradigm of layered networks is used to describe many real-world systems -- from biological networks, to social organizations and transportation systems. Recently there has been much progress in understanding the general properties of…
This paper presents a novel methodology to develop scheduling algorithms. The scheduling problem is phrased as a control problem, and control-theoretical techniques are used to design a scheduling algorithm that meets specific requirements.…
The paper presents a novel method for designing an optimal controller for discrete-time switched linear systems. The problem is formulated as one of computing the discrete mode sequence and the continuous input sequence that jointly…
We consider the problem of designing distributed controllers to guarantee dissipativity of a networked system comprised of dynamically coupled subsystems. We require that the control synthesis is carried out locally at the subsystem-level,…
This paper considers nonlinear systems with full state feedback, a central controller and distributed sensors not co-located with the central controller. We present a methodology for designing decentralized asynchronous event-triggers,…
In this paper, we propose a suboptimal and reduced-order Model Predictive Control (MPC) architecture for discrete-time feedback-interconnected systems. The numerical MPC solver: (i) acts suboptimally, performing only a finite number of…
This paper revisits a classical challenge in the design of stabilizing controllers for nonlinear systems with a norm-bounded input constraint. By extending Lin-Sontag's universal formula and introducing a generic (state-dependent) scaling…