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This note presents the design and analysis of an adaptive controller for a class of linear plants in the presence of output feedback. This controller makes use of a closed-loop reference model as an observer, and guarantees global stability…
We provide a method to design adaptive controllers for nonlinear systems using model predictive control (MPC). By combining a certainty-equivalent MPC formulation with least-mean-square parameter adaptation, we obtain an adaptive controller…
Since the classical proportional-integral-derivative (PID) controller has continued to be the most widely used feedback methods in engineering systems by far, it is crucial to investigate the working mechanism of PID in dealing with…
This paper presents a fault-tolerant control scheme for constrained linear systems. First, a new variant of the Reference Governor (RG) called At Once Reference Governor (AORG) is introduced. The AORG is distinguished from the conventional…
Applications such as cloud gaming, video streaming, telemetry, ML inference, and data transfer provide a better experience when data is released at the receiver with timing reflecting how the data enters the sender. In practice, network…
Recently developed control methods with strong disturbance rejection capabilities provide a useful option for control design. The key lies in a general concept of disturbance and effective ways to estimate and compensate the disturbance.…
Achieving sustainable, explainable, and maintainable automation for resource optimization is a core challenge across the edge-cloud continuum. Persistent overprovisioning and operational complexity often stem from heterogeneous platforms…
We present three dynamic error feedback controllers for robust output regulation of regular linear systems. These controllers are (i) a minimal order robust controller for exponentially stable systems (ii) an observer-based robust…
We present a model predictive control (MPC) framework to solve the constrained nonlinear output regulation problem. The main feature of the proposed framework is that the application does not require the solution to classical regulator…
Iterative Learning Control (ILC) schemes can guarantee properties such as asymptotic stability and monotonic error convergence, but do not, in general, ensure adherence to output constraints. The topic of this paper is the design of a…
Automated Rule Checking (ARC) plays a crucial role in advancing the construction industry by addressing the laborious, inconsistent, and error-prone nature of traditional model review conducted by industry professionals. Manual assessment…
A new framework is developed for control of constrained nonlinear systems with structured parametric uncertainties. Forward invariance of a safe set is achieved through online parameter adaptation and data-driven model estimation. The new…
Selecting an evaluation metric is fundamental to model development, but uncertainty remains about when certain metrics are preferable and why. This paper introduces the concept of *resolving power* to describe the ability of an evaluation…
This article proposes a Model Reference Adaptive Control (MRAC) strategy to achieve fixed-time convergence of parameter estimation and tracking errors for unknown linear time-invariant systems, without relying on the persistence of…
Adders are key building blocks of many error-tolerant applications. Leveraging the application-level error tolerance, a number of approximate adders were proposed recently. Many of them belong to the category of block-based approximate…
In this paper, the practical output consensus problem for heterogeneous high-order leader-follower multi-agent systems under directed communication topology containing a directed spanning tree and subject to large-scale mismatched…
This paper develops a new model reference adaptive control (MRAC) framework using partial-state feedback for solving a multivariable adaptive output tracking problem. The developed MRAC scheme has full capability to deal with plant…
The structures for the expression of fault-tolerance provisions into the application software are the central topic of this paper. Structuring techniques answer the questions "How to incorporate fault-tolerance in the application layer of a…
Considering the control problem for nonlinear uncertain systems, the tolerable range of uncertain control input gain is a fundamental issue. The paper presents the necessary and sufficient condition for the well-performed closed-loop system…
Approximate simulation, an extension of simulation relations from formal methods to continuous systems, is a powerful tool for hierarchical control of complex systems. Finding an approximate simulation relation between the full "concrete"…