Related papers: Practical exponential stability of a robust data-d…
In this paper, we study the event-triggered global robust practical output regulation problem for a class of nonlinear systems in output feedback form with any relative degree. Our approach consists of the following three steps. First, we…
A class of nonlinear control-affine systems with bounded time-varying drift is considered. It is assumed that the control vector fields together with their iterated Lie brackets satisfy Hormander's condition in a neighborhood of the origin.…
This article aims at providing a unified analysis of the exponential stabilization of some abstract infinite dimensional systems undergoing an event-triggering mechanism that samples the control input. The partial differential equation is…
The feedback linearization method is further developed for the controller design on general nonlinear systems. Through the Lyapunov stability theory, the intractable nonlinear implicit algebraic control equations are effectively solved, and…
Real-world control applications in complex and uncertain environments require adaptability to handle model uncertainties and robustness against disturbances. This paper presents an online, output-feedback, critic-only, model-based…
The fundamental lemma from behavioral systems theory yields a data-driven non-parametric system representation that has shown great potential for the data-efficient control of unknown linear and weakly nonlinear systems, even in the…
We consider the problem of zeroing an error output of a nonlinear discrete-time system in the presence of constant exogenous disturbances, subject to hard convex constraints on the input signal. The design specification is formulated as a…
In the context of linear control systems, a commonly-held intuition is that negative and positive feedback cannot both be stability enhancing. The canonical linear prototype is the scalar system $\dot x=u$ which, under negative linear…
We show that if a linear infinite-dimensional system is exponentially stabilizable by compact feedback, it is also stabilizable by means of a sampled-data feedback that is fed through a globally Lipschitz nonlinearity, provided that the…
Relaxed conditions are given for stability of a feedback system consisting of an exponentially stable multi-input multi-output nonlinear plant and an integral controller. Roughly speaking, it is shown that if the composition of the plant…
This note studies the exponential convergence of input-output signals of discrete-time nonlinear systems composed of a feedback interconnection of a linear time-invariant system and a nonlinear uncertainty. Both the open-loop subsystems are…
We present a true-dynamics-agnostic, statistically rigorous framework for establishing exponential stability and safety guarantees of closed-loop, data-driven nonlinear control. Central to our approach is the novel concept of conformal…
Designing accurate yet robust tracking controllers with tight performance guarantees for Lagrangian systems is challenging due to nonlinear modeling uncertainties and conservative stability criteria. This article proposes a…
We present a framework for systematically combining data of an unknown linear time-invariant system with prior knowledge on the system matrices or on the uncertainty for robust controller design. Our approach leads to linear matrix…
This paper studies the exponential stabilization on infinite dimensional system with impulse controls, where impulse instants appear periodically. The first main result shows that exponential stabilizability of the control system with a…
The development of control methods based on data has seen a surge of interest in recent years. When applying data-driven controllers in real-world applications, providing theoretical guarantees for the closed-loop system is of crucial…
This manuscript contains technical details and proofs of recent results developed by the authors, pertaining to the design of nonlinear controllers from the experimental data measured on an existing feedback control system.
Nonlinear, adaptive, or otherwise complex control techniques are increasingly relied upon to ensure the safety of systems operating in uncertain environments. However, the nonlinearity of the resulting closed-loop system complicates…
We construct two error feedback controllers for robust output tracking and disturbance rejection of a regular linear system with nonsmooth reference and disturbance signals. We show that for sufficiently smooth signals the output converges…
Neural networks have demonstrated remarkable success in modeling nonlinear dynamical systems. However, identifying these systems from closed-loop experimental data remains a challenge due to the correlations induced by the feedback loop.…