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We propose an abstract framework for solving the constrained set-point tracking problem for impedance passive infinite-dimensional nonlinear systems. The class of systems considered is governed by monotone differential inclusions and allows…
The non-equilibrium spin dynamics of a one-dimensional system of repulsively interacting fermions is studied by means of density-matrix renormalization-group simulations. We focus on the short-time decay of the oscillation amplitudes of the…
State-of-the-art approaches to optimal control use smooth approximations of value and policy functions and gradient-based algorithms for improving approximator parameters. Unfortunately, we show that value and policy functions that arise in…
Max-min-plus-scaling (MMPS) systems generalize max-plus, min-plus and max-min-plus models with more flexibility in modelling discrete-event dynamics. Especially, implicit MMPS models capture a wide range of real world discrete-event…
We consider mechanics of composite materials in which thin inclusions are modeled by lower-dimensional manifolds. By successively applying the dimensional reduction to junctions and intersections within the material, a geometry of…
Current world models lack a unified and controlled setting for systematic evaluation, making it difficult to assess whether they truly capture the underlying rules that govern environment dynamics. In this work, we address this open…
This paper explores transverse coordinates for the purpose of orbitally stabilizing periodic motions of nonlinear, control-affine dynamical systems. It is shown that the dynamics of any (minimal or excessive) set of transverse coordinates,…
This paper explores the concept of topological transitivity in nonautonomous dynamical systems, which are defined as sequences of continuous maps from a compact metric space to itself. It investigates various conditions (including…
This paper introduces and studies the notion of output-input stability, which represents a variant of the minimum-phase property for general smooth nonlinear control systems. The definition of output-input stability does not rely on a…
This paper presents a new model-based algorithm that computes predictive optimal controls on-line and in closed loop for traditionally challenging nonlinear systems. Examples demonstrate the same algorithm controlling hybrid impulsive,…
The key element of the approach to the theory of necessary conditions in optimal control discussed in the paper is reduction of the original constrained problem to unconstrained minimization with subsequent application of a suitable…
This paper addresses the motion control problem for underactuated mechanical systems with full attitude control and one translational force input to manage the six degrees of freedom involved in the three-dimensional Euclidean space. These…
The paper extends an impulsive control-theoretical framework towards dynamic systems in the space of measures. We consider a transport equation describing the time-evolution of a conservative "mass" (probability measure), which represents…
Robust control of complex engineered and biological systems hinges on the integration of feedforward and feedback mechanisms. This is exemplified in neural motor control, where feedforward muscle co-contraction complements sensory-driven…
Despite the success of model predictive control (MPC), its application to high-dimensional systems, such as flexible structures and coupled fluid/rigid-body systems, remains a largely open challenge due to excessive computational…
In this paper, controllability of undirected networked systems with {diffusively coupled subsystems} is considered, where each subsystem is of {identically {\emph{fixed}}} general high-order single-input-multi-output dynamics. The…
This work presents a control-oriented structural design approach for a 2-DOF underactuated mechanical system, with the purpose of generating an optimal oscillatory behavior of the end-effector. To achieve the desired periodic motion, we…
This article is concerned with stability analysis and stabilization of randomly switched systems under a class of switching signals. The switching signal is modeled as a jump stochastic (not necessarily Markovian) process independent of the…
Monotone systems, also known as order-preserving or cooperative systems, are prevalent in models of engineering applications such as transportation and biological networks. In this paper, we investigate the problem of finding a control…
The paper is devoted to the study of a new class of optimal control problems for nonsmooth dynamical systems governed by nonconvex discontinuous differential inclusions of the sweeping type with involving variable time into optimization. We…