Related papers: Fixed-Order H-Infinity Controller Design for Port-…
This article presents a novel framework for the robust controller synthesis problem in discrete-time systems using dynamic Integral Quadratic Constraints (IQCs). We present an algorithm to minimize closed-loop performance measures such as…
Feedback optimization is a control paradigm that enables physical systems to autonomously reach efficient operating points. Its central idea is to interconnect optimization iterations in closed-loop with the physical plant. Since iterative…
This work presents a matrix-free finite element solver for finite-strain elasticity adopting an $hp$-multigrid preconditioner. Compared to classical algorithms relying on a global sparse matrix, matrix-free solution strategies significantly…
This article proposes a distributed secondary control scheme that drives a dc microgrid to an equilibrium point where the generators share optimal currents, and their voltages have a weighted average of nominal value. The scheme does not…
The present paper provides a sufficient condition to ensure output finite-time and fixed-time stability. Comparing with analogous researches the proposed result is less restrictive and obtained for a wider class of systems. The presented…
We present a controller tuning strategy for first-order plus time delay (FOPTD) processes, where the time delay in the model is approximated using the Pad\'e function. Using Routh-Hurwitz stability analysis, we derive the gain that gives…
In this paper, we will propose linear-matrix-inequality-based techniques for the design of sampled-data controllers that render the closed-loop system dissipative with respect to \textcolor{blue}{quadratic supply functions}, which includes…
In this paper, we consider linear time-invariant continuous control systems which are bounded real, also known as scattering passive. Our main theoretical contribution is to show the equivalence between such systems and port-Hamiltonian…
The problem of robust controller synthesis for plants affected by structured uncertainty, captured by integral quadratic constraints, is discussed. The solution is optimized towards a worst-case white noise rejection specification, which is…
This paper designs H2 and H-infinity distributed controllers with local communication and local disturbance rejection. We propose a two-step procedure: first, select closed-loop poles; then, optimize over parameterized controllers. We build…
In this paper, we propose several rules to tune the gains for a class of passivity-based controllers for nonlinear mechanical systems. Such tuning rules prescribe a desired local transient response behavior to the closed-loop system. To…
The paper considers the suboptimal H-infinity control problem for a general discrete-time system (whose transfer function matrix is allowed to be improper or polynomial). The parametrization of output feedback controllers is given in a…
Port-Hamiltonian (pH) systems have been studied extensively for linear continuous-time dynamical systems. This manuscript presents a discrete-time pH descriptor formulation for linear, completely causal, scattering passive dynamical systems…
In this paper, we present a novel control scheme for feedback optimization. That is, we propose a discrete-time controller that can steer the steady state of a physical plant to the solution of a constrained optimization problem without…
Control Co-Design (CCD) considers the coupled effects of both the plant and control parameters to optimize a system's closed-loop transient performance during the design stage. This paper presents a new method for CCD with guarantees on…
An observer-based boundary controller for infinite-dimensional port-Hamiltonian systems defined on 1D spatial domains is proposed. The design is based on an early-lumping approach in which a finite-dimensional approximation of the…
Boundary feedback stabilisation of linear port-Hamiltonian systems on an interval is considered. Generation and stability results already known for linear feedback are extended to nonlinear dissipative feedback, both to static feedback…
Impedance control and specifically stiffness control are widely applied for physical human-robot interaction. The series elastic actuator (SEA) provides inherent compliance, safety and further benefits. This paper aims to improve the…
We address a class of systems for which the solution to an H-infinity optimal control problem can be given on a very simple closed form. In fact, both the control law and optimal performance value are explicitly given. The class of systems…
Today, linear PID controllers cannot satisfy requirements of high-precision industry due to the development of technology. According to the literature, reset controllers can overcome this important barrier. However, similar to other…