Related papers: Input-output linearization and decoupling of mecha…
In this article, we present data-driven feedback linearization for nonlinear systems with periodic orbits in the zero-dynamics. This scenario is challenging for data-driven control design because the higher order terms of the internal…
In this paper, we provide a theoretical framework that separates the control and learning tasks in a linear system. This separation allows us to combine offline model-based control with online learning approaches and thus circumvent current…
This note addresses the output synchronization problem of incrementally output-feedback passive nonlinear systems in the presence of exogenous disturbances. Two kinds of distributed controllers are proposed; one placed at the nodes and the…
This paper studies the problem of stabilizing a continuous-time switched linear system by quantized output feedback. We assume that the quantized outputs and the switching signal are available to the controller at all time. We develop an…
We examine when differentially flat nonlinear control systems with more than two inputs can be rendered static feedback linearizable by a minimal number of prolongations of suitably chosen inputs after applying a static input…
The paper addresses the exact linearization of flat nonlinear discrete-time systems by generalized static or dynamic feedbacks which may also depend on forward-shifts of the new input. We first investigate the question which forward-shifts…
In this paper, some preliminaries about Morgan problem, signal flow graph and controllable linear time-invariant standard system are first introduced in detail. In order to synthesize the necessary and sufficient condition for decoupling…
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…
A mechanical system can be optimally controlled through continuous measurements of its position followed by feedback. We revisit the complete formalism for predicting the performance of such as system without invoking the standard rotating…
In this paper, we address a general eigenstructure assignment problem where the objective is to distribute the closed-loop modes over the components of the system outputs in such a way that, if a certain mode appears in a given output, it…
This paper studies the problem of output regulation for a class of nonlinear systems experiencing matched input disturbances. It is assumed that the disturbance signal is generated by an external autonomous dynamical system. First, we show…
We develop a theory of continuous decoupling with bounded controls from a geometric perspective. Continuous decoupling with bounded controls can accomplish the same decoupling effect as the bang-bang control while using realistic control…
We present sufficient conditions under which a given linear nonautonomous system and its nonlinear perturbation are topologically conjugated. Our conditions are of a very general form and provided that the nonlinear perturbations are…
In this paper, we consider the problem of input-output linearization of the longitudinal flight dynamics. In longitudinal flight dynamics, inputs are typically thrust and elevator deflection whereas the outputs are the velocity and the…
The paper studies the output-feedback synchronization problem for a network of identical, linear time-invariant systems. A criterion to test network synchronization is derived and the class of output-feedback synchronizable systems is…
Control systems of interest are often invariant under Lie groups of transformations. For such control systems, a geometric framework based on Lie symmetry is formulated, and from this a sufficient condition for dynamic feedback…
The paper continues the authors' study of the linearizability problem for nonlinear control systems. In the recent work [K. Sklyar, Systems Control Lett. 134 (2019), 104572], conditions on mappability of a nonlinear control system to a…
This paper studies a stabilization problem for linear MIMO systems subject to external perturbation that further requires the closed-loop system render a specified gain from the external perturbation to the output. The problem arises from…
In this thesis, we provide new insights into the theory of cascade feedback linearization of control systems. In particular, we present a new explicit class of cascade feedback linearizable control systems, as well as a new obstruction to…
We study the stabilization of networked control systems with asynchronous sensors and controllers. Offsets between the sensor and controller clocks are unknown and modeled as parametric uncertainty. First we consider multi-input linear…