Related papers: Passivity-based control of mechanical systems with…
The varied and complex dynamics of real-world systems challenge the formulation of a systematic strategy for designing a stabilizing feedback law. Rather than taking a universal approach, the control strategies developed thus far to handle…
We introduce a model reduction approach for linear time-invariant second order systems based on positive real balanced truncation. Our method guarantees asymptotic stability and passivity of the reduced order model as well as the positive…
A new Bayesian approach to linear system identification has been proposed in a series of recent papers. The main idea is to frame linear system identification as predictor estimation in an infinite dimensional space, with the aid of…
Methods from controlled Lagrangians, double bracket dissipation and interconnection and damping assignment -- passivity based control (IDA-PBC) are used to construct nonlinear feedback controls which (asymptotically) stabilize previously…
System identification is a key enabling component for the implementation of quantum technologies, including quantum control. In this paper, we consider the class of passive linear input-output systems, and investigate several basic…
This paper studies static output feedback stabilization of continuous-time (incrementally) passive nonlinear systems where the control actions can only be chosen from a discrete (and possibly finite) set of points. For this purpose, we are…
Most passivity based trajectory tracking algorithms for mechanical systems can only stabilise reference trajectories that have constant energy. This paper overcomes this limitation by deriving a single variable Hamiltonian model for the…
Problem of damping of an arbitrary number of linear oscillators under common bounded control is considered. We are looking for a feedback control steering the system to the equilibrium. The obtained control is asymptotically optimal: the…
We have developed a linearization method to investigate the subthreshold oscillatory behaviors in nonlinear autonomous systems. By considering firstly the neuronal system as an example, we show that this theoretical approach can predict…
This paper investigates gradient-based adaptive prediction and control for nonlinear stochastic dynamical systems under a weak convexity condition on the prediction-based loss. This condition accommodates a broad range of nonlinear models…
We present a design framework to induce stable oscillations through mixed feedback control. We provide conditions on the feedback gain and on the balance between positive and negative feedback contributions to guarantee robust oscillations.…
In this note we study the generation of attractive oscillations of a class of mechanical systems with underactuation one. The proposed design consists of two terms, i.e., a partial linearizing state feedback, and an immersion and invariance…
This paper deals with the stabilization problem for nonlinear control-affine systems with the use of oscillating feedback controls. We assume that the local controllability around the origin is guaranteed by the rank condition with Lie…
This work primarily focuses on an operator inference methodology aimed at constructing low-dimensional dynamical models based on a priori hypotheses about their structure, often informed by established physics or expert insights. Stability…
This paper introduces a control strategy to simultaneously achieve asymptotic stabilization and transient frequency regulation of power networks. The control command is generated by iteratively solving an open-loop control cost minimization…
We study damping of inter-area oscillations in transmission grids using voltage-source-converter-based high-voltage direct-current (VSC-HVDC) links. Conventional power oscillation damping controllers rely on system models that are difficult…
Deep reinforcement learning approaches are becoming appealing for the design of nonlinear controllers for voltage control problems, but the lack of stability guarantees hinders their deployment in real-world scenarios. This paper constructs…
In this paper, our objective is to develop novel passivity based control techniques by introducing a new passivity concept named Krasovskii passivity. As a preliminary step, we investigate properties of Krasovskii passive systems and…
This paper proposes a novel wide-area control strategy for modulating the active power injections to damp the critical frequency oscillations in power systems, this includes the inter-area oscillations and the transient frequency swing. The…
This paper investigates adaptive control of nonlinear robot manipulators with parametric uncertainty. Motivated by generating closed-loop robot dynamics with enhanced transmission capability of a reference torque and with connection to…