Related papers: On the Feasibility of Self-Powered Linear Feedback…
We provide theoretical guarantees for recursive feasibility and practical exponential stability of the closed-loop system of a feedback linearizable nonlinear system when controlled by a robust data-driven nonlinear predictive control…
Problem of damping of an arbitrary number of linear oscillators under common bounded control is considered. We are looking for a feedback control steering the system to the equilibrium. The obtained control is asymptotically optimal: the…
This paper exhibits the closed-loop design constraints using the non-analytic function theory. First, the paper generalizes the sensitivity integral for linear feedback systems with the non-analytic sensitivity function. Sensitivity…
We develop an input delay-compensating feedback law for linear switched systems with time-dependent switching. Because the future values of the switching signal, which are needed for constructing an exact predictor-feedback law, may be…
Feedback control laws have been traditionally implemented in a periodic fashion on digital hardware. Although periodicity simplifies the analysis of the mismatch between the control design and its digital implementation, it also leads to…
We study the state estimation problem for linear control systems with quadratic outputs which are locally unobservable at the equilibrium. We show that, despite this inherent lack of observability, an adversary with sensor read and write…
This paper considers controlled scalar systems relying on a lossy wireless feedback channel. In contrast with the existing literature, the focus is not on the system controller but on the wireless transmit power controller that is…
We consider the problem of optimizing the steady state of a dynamical system in closed loop. Conventionally, the design of feedback optimization control laws assumes that the system is stationary. However, in reality, the dynamics of the…
The paper is devoted to a design of a common bounded feedback control steering a system of an arbitrary number of linear oscillators to the equilibrium. At high energies, the control is based on the asymptotic theory of reachable sets of…
This paper presents an admittance controller based on the passivity theory for a powered upper-limb exoskeleton robot which is governed by the nonlinear equation of motion. Passivity allows us to include a human operator and environmental…
This paper presents a linear-programming based algorithm to perform data-driven stabilizing control of linear positive systems. A set of state-input-transition observations is collected up to magnitude-bounded noise. A state feedback…
Feedback Linearisation (FBL) is a widely used technique that applies feedback laws to transform input-affine nonlinear control systems into linear control systems, allowing for the use of linear controller design methods such as pole…
The popular single-input single-output control structures and classic design methods (e.g., root locus analysis) for the power control of grid-forming converters have limitations in applying to different line characteristics and providing…
In this paper we investigate when a parameterized controller, designed for a plant depending on unknown parameters, admits a realization which is independent of the parameters. It is argued that adaptation is unnecessary for this class of…
Negative feedback is a powerful approach capable of improving several aspects of a system. In linear electronics, it has been critical for allowing invariance to device properties. Negative feedback is also known to enhance linearity in…
We present a novel approach to control design for nonlinear systems which leverages model-free policy optimization techniques to learn a linearizing controller for a physical plant with unknown dynamics. Feedback linearization is a…
This paper is concerned with the design of a linear control law for linear systems with stationary additive disturbances. The objective is to find a state feedback gain that minimizes a quadratic stage cost function, while observing chance…
A fundamental concept in control theory is that of controllability, where any system state can be reached through an appropriate choice of control inputs. Indeed, a large body of classical and modern approaches are designed for controllable…
An alternative formulation for the controllability problem of single input linear positive systems is presented. Driven by many industrial applications, this formulations focuses on the case where the region of interest is only a subset of…
Energy storage is a basic physical process with many applications. When considering this task at the quantum scale, it becomes important to optimise the non-equilibrium dynamics of energy transfer to the storage device or battery. Here, we…