Related papers: Input-Output History Feedback Controller for Encry…
This paper presents a data-driven nonlinear safe control design approach for discrete-time systems under parametric uncertainties and additive disturbances. We first characterize a new control structure from which a data-based…
This study aims to develop an encrypted motion-copying system using homomorphic encryption for secure motion preservation and reproduction. A novel concept of encrypted motion-copying systems is introduced, realizing the preservation,…
Feedback optimization enables autonomous optimality seeking of a dynamical system through its closed-loop interconnection with iterative optimization algorithms. Among various iteration structures, model-based approaches require the…
The trend towards delegating data processing to a remote party raises major concerns related to privacy violations for both end-users and service providers. These concerns have attracted the attention of the research community, and several…
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…
In commercial robotic systems, it is common to encounter a closed inner-loop torque controller that is not user-modifiable. However, the outer-loop controller, which sends kinematic commands such as position or velocity for the inner-loop…
A fully homomorphic encryption system hides data from unauthorized parties, while still allowing them to perform computations on the encrypted data. Aside from the straightforward benefit of allowing users to delegate computations to a more…
Finite-time optimal feedback control for flow networks under information constraints is studied. By utilizing the framework of multi-parametric linear programming, it is demonstrated that when cost/constraints can be modeled or approximated…
This paper proposes a new framework and several results to quantify the performance of data-driven state-feedback controllers for linear systems against targeted perturbations of the training data. We focus on the case where subsets of the…
This study proposes post-quantum encrypted control systems based on dynamic-key Learning with Errors (LWE) encryption schemes. The proposed method develops update maps that simultaneously update the private key and ciphertexts within the…
Robust control design is mainly devoted to guarantee closed-loop stability of a model-based control law in presence of parametric and structural uncertainties. The control law is usually a complex feedback law which is derived from a…
I revisit the ideas underlying dynamical decoupling methods within the framework of quantum information processing, and examine their potential for direct implementations in terms of encoded rather than physical degrees of freedom. The…
This paper considers the problem of regulating a linear dynamical system to the solution of a convex optimization problem with an unknown or partially-known cost. We design a data-driven feedback controller - based on gradient flow dynamics…
Symbolic control is an abstraction-based controller synthesis approach that provides, algorithmically, certifiable-by-construction controllers for cyber-physical systems. Symbolic control approaches usually assume that full-state…
In this paper, the moment matching techniques are adopted to obtain reduced-order closed-loop systems with reduced-order controllers that maintain the closed-loop stability and guarantee desired asymptotic performance, after revealing the…
Stability enforcement remains a challenge in data-driven control paradigms, where no parametrised model of the system is available. For instance, the system's instabilities can be estimated in order to enforce a closed-loop stability…
In this paper a novel discrete-time realization of the super-twisting controller is proposed. The closed-loop system is proven to converge to an invariant set around the origin in finite time. Furthermore, the steady-state error is shown to…
In this paper, we propose a deep unfolding-based framework for the output feedback control of systems with input saturation. Although saturation commonly arises in several practical control systems, there is still a scarce of effective…
The system property of ``having integer coefficients,'' that is, a transfer function has an integer monic polynomial as its denominator, is significant in the field of encrypted control as it is required for a dynamic controller to be…
We introduce the family of limited model information control design methods, which construct controllers by accessing the plant's model in a constrained way, according to a given design graph. We investigate the closed-loop performance…