Related papers: Saturating PI control of stable nonlinear systems …
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…
This paper presents a novel nonlinear backstepping control law for continuous, low-thrust station-keeping in the Earth-Moon system. Quasi-periodic libration point orbits are targeted under a high-fidelity model of the dynamics. Almost…
In real-world control applications, actuator constraints and output constraints (specifically in tracking problems) are inherent and critical to ensuring safe and reliable operation. However, generally, control strategies often neglect…
This paper proposes a new methodology for design of a stabilizing control law for multi-input linear systems with time-varying, singular gains on the control. The results presented here assume the control gain to satisfy persistence of…
The paper deals with the stability analysis of time-delay reset control systems, for which the resetting law is assumed to satisfy a time-dependent condition. A stability analysis of the closed-loop system is performed based on an…
We study the stability properties of a control system composed of a dynamical plant and a feedback controller, the latter generating control signals that can be compromised by a malicious attacker. We consider two classes of feedback…
Predictor-based stabilization results are provided for nonlinear systems with input delays and a compact absorbing set. The control scheme consists of an inter-sample predictor, a global observer, an approximate predictor, and a nominal…
Boundary feedback control design is studied for 1D hyperbolic systems with an in-domain disturbance and a boundary feedback controller under the effect of actuator saturation. Nonlinear semigroup theory is used to prove well-posedness of…
We study the stability of coupled impedance passive regular linear systems under power-preserving interconnections. We present new conditions for strong, exponential, and non-uniform stability of the closed-loop system. We apply the…
In this paper, we consider the problem of set-point tracking for a discrete-time plant with unknown plant parameters belonging to a convex and compact uncertainty set. We carry out parameter estimation for an associated auxiliary plant, and…
This work proposes a two-layered control scheme for constrained nonlinear systems represented by a class of recurrent neural networks and affected by additive disturbances. In particular, a base controller ensures global or regional…
In this paper, we propose several rules to tune the gains for a class of passivity-based controllers for nonlinear mechanical systems. Such tuning rules prescribe a desired local transient response behavior to the closed-loop system. To…
The growing complexity of modern control tasks calls for controllers that can react online as objectives and disturbances change, while preserving closed-loop stability. Recent approaches for improving the performance of nonlinear systems…
This paper presents the analysis and a method to design supplementary damping controllers (SDCs) for synchronous generators considering the effects of saturation limits. Usually such saturations of control signals are imposed in order to…
In this work, we propose the design and analysis of a novel continuous robust controller for a class of multi--input multi--output (MIMO) nonlinear uncertain systems. The systems under consideration contains unstructured uncertainties in…
An integral extension of state-feedback controllers for linear time-varying plants is proposed, which preserves performance of the nominal controller in the unperturbed case. Similar to time-invariant state feedback with integral action,…
Recent development of contraction theory based analysis of singularly perturbed system has opened the door for inspecting differential behavior of multi time-scale systems. In this paper a contraction theory based framework is proposed for…
The paper deals with the control and regulation by integral controllers forthe nonlinear systems governed by scalar quasi-linear hyperbolic partial differentialequations. Both the control input and the measured output are located on the…
The precise regulation of rotary actuation is fundamental in autonomous robotics, yet practical PID loops deviate from continuous-time theory due to discrete-time execution, actuator saturation, and small delays and measurement…
We carry-out a detailed analysis of direct voltage control of a Boost converter feeding a simple resistive load. First, we prove that using a classical PI control to stabilize a desired equilibrium leads to a very complicated dynamic…