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This work presents a sum-of-squares (SOS) based framework to perform data-driven stabilization and robust control tasks on discrete-time linear systems where the full-state observations are corrupted by L-infinity bounded input,…
The conceptually new approach based on the logarithmic norm to design of robust adaptive state-feedback controller for linear time-varying (LTV) systems under system's modeling uncertainty and nonlinear external disturbance is proposed.…
This paper proposes a robust control design method using reinforcement-learning for controlling partially-unknown dynamical systems under uncertain conditions. The method extends the optimal reinforcement-learning algorithm with a new…
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…
This paper deals with the robust force and position control problems of Series Elastic Actuators. It is shown that a Series Elastic Actuator's force control problem can be described by a second-order dynamic model which suffers from only…
This paper describes the design of a robust controller for position control in systems with sandwiched backlash. The backlash, which is nonsmooth and nonlinear, is inevitable in the operation of many systems, but it can have destructive…
Robotic control systems are increasingly relying on distributed feedback controllers to tackle complex sensing and decision problems such as those found in highly articulated human-centered robots. These demands come at the cost of a…
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…
Output-based controllers are known to be fragile with respect to model uncertainties. The standard $\mathcal{H}_{\infty}$-control theory provides a general approach to robust controller design based on the solution of the…
This is the last part of four series papers, aiming at stabilization for signal-input-signaloutput (SISO) linear finite-dimensional systems corrupted by general input disturbances. A new observer, referred to as Extended Dynamics Observer…
This article presents the design of a robust observer based on the discrete-time formulation of Uncertainty and Disturbance Estimator (UDE), a well-known robust control technique, for the purpose of controlling robot manipulators. The…
We study the stability of coupled impedance passive regular linear systems under power-preserving interconnections. We present new conditions for strong, exponential, and non-uniform stability of the closed-loop system. We apply the…
As power systems become more and more interconnected, the inter-area oscillations has become a serious factor limiting large power transfer among different areas. Underdamped (Undamped) inter-area oscillations may cause system breakup and…
This paper introduces a method for efficiently updating a nominal stabilizing static output feedback (SOF) controller in perturbed linear systems. As operating points and state-space matrices change in dynamic systems, accommodating updates…
This work develops a robust adaptive control strategy for discrete-time systems using Control Barrier Functions (CBFs) to ensure safety under parametric model uncertainty and disturbances. A key contribution of this work is establishing a…
This paper addresses optimal feedback stabilizing control for bounded Jacobian nonlinear discrete-time (DT) systems with nonlinear observations, affected by state and process noise. Instead of directly stabilizing the uncertain system, we…
There are tradeoffs between current sharing among distributed resources and DC bus voltage stability when conventional droop control is used in DC microgrids. As current sharing approaches the setpoint, bus voltage deviation increases.…
This study presents a novel, continuous finite-time control strategy for a class of nonlinear systems subject to matched uncertainties with unknown bounds. We propose an Adaptive Disturbance Observer-based Full-order Integral-Terminal…
The wide deployment of renewable generation and the gradual decrease in the overall system inertia make modern power grids more vulnerable to transient instabilities and unacceptable frequency fluctuations. Time-domain simulation-based…
This paper addresses the problems of stabilization, robust control, and observer design for nonlinear systems. We build upon recently a proposed method based on contraction theory and convex optimization, extending the class of systems to…