Related papers: Fixed-Order H2-Conic Control
Model Predictive Control (MPC) is often tuned by trial and error. When a baseline linear controller exists that is already well tuned in the absence of constraints and MPC is introduced to enforce them, one would like to avoid altering the…
Optimal controller synthesis is a bilinear problem and hence difficult to solve in a computationally efficient manner. We are able to resolve this bilinearity for systems with delay by first convexifying the problem in infinite-dimensions -…
In order to meet the requirements for autonomous systems in real world applications, reliable path following controllers have to be designed to execute planned paths despite the existence of disturbances and model errors. In this paper we…
In this paper, a robust adaptive type-2 fuzzy higher order sliding mode controller is designed to stabilize the unstable periodic orbits of uncertain perturbed chaotic system with internal parameter uncertainties and external disturbances.…
This paper presents a computationally efficient robust model predictive control law for discrete linear time invariant systems subject to additive disturbances that may depend on the state and/or input norms. Despite the dependency being…
Current state-of-the-art correct-by-design controllers are designed for full-state measurable systems. This work first extends the applicability of correct-by-design controllers to partially observable LTI systems. Leveraging 2nd order…
The current limitation in the synthesis of distributed $\mathscr{H}_2$ controllers for linear interconnected systems is scalability due to non-convex or unstructured synthesis conditions. In this paper we develop convex and structured…
We propose a parameterization of a nonlinear dynamic controller based on the recurrent equilibrium network, a generalization of the recurrent neural network. We derive constraints on the parameterization under which the controller…
In this paper we design suboptimal control laws for an unknown linear system on the basis of measured data. We focus on the suboptimal linear quadratic regulator problem and the suboptimal H2 control problem. For both problems, we establish…
This paper presents a constraint-lifting control framework for designing stabilizing controllers that guarantee the forward invariance of a prescribed safe set. State-of-the-art safety-enforcing methods, such as control barrier functions…
We study an optimal control problem aimed at achieving a desired tradeoff between the network coherence and communication requirements in the distributed controller. Our objective is to add a certain number of edges to an undirected…
A non-overshooting quasi-continuous sliding mode control with sub-optimal damping was recently introduced in Ruderman and Efimov (2025) for perturbed second-order systems. The present work proposes an essential modification of the nonlinear…
One of the desirable objectives in feedback control design is to formulate and solve the design problem as an optimisation problem that is convex, so that an optimal solution can be found efficiently. Unfortunately many control design…
We analyze and design H-infinity controllers for general time-delay systems with time-delays in systems' state, inputs and outputs. We allow the designer to choose the order of the controller and to introduce constant time-delays in the…
Optimal control is an essential tool for stabilizing complex nonlinear systems. However, despite the extensive impacts of methods such as receding horizon control, dynamic programming and reinforcement learning, the design of cost functions…
The frequency-weighted model order reduction techniques are used to find a lower-order approximation of the high-order system that exhibits high-fidelity within the frequency region emphasized by the frequency weights. In this paper, we…
This paper considers a class of bilinear systems with a neural network in the loop. These arise naturally when employing machine learning techniques to approximate general, non-affine in the input, control systems. We propose a controller…
We propose a tube-based guaranteed cost model predictive controller considering a homothetic formulation for constrained linear systems subject to multiplicative structured norm-bounded uncertainties. It provides an upper bound to the…
This article presents proposals for the design of reduced-order controllers for high-dimensional dynamical systems. The objective is to develop efficient control strategies that ensure stability and robustness with reduced computational…
HIFOO is a public-domain Matlab package initially designed for Hinfinity fixed-order controller synthesis, using nonsmooth nonconvex optimization techniques. It was later on extended to multi-objective synthesis, including strong and…