Related papers: A Unified KKL-based Interval Observer for Nonlinea…
Estimation of solution norms and stability for time-dependent nonlinear systems is ubiquitous in numerous engineering, natural science and control problems. Yet, practically valuable results are rare in this area. This paper develops a…
We investigate the stabilisation of nominally linear-affine switched systems with uncertain Lipschitz nonlinearities under dwell-time constraints, using a sampled-data switching law based on a state observer. We design the switching law…
Standard model-based control design deteriorates when the system dynamics change during operation. To overcome this challenge, online and adaptive methods have been proposed in the literature. In this work, we consider the class of…
We present two nonparametric approaches to Kullback-Leibler (KL) control, or linearly-solvable Markov decision problem (LMDP) based on Gaussian processes (GP) and Nystr\"{o}m approximation. Compared to recently developed parametric methods,…
We present a novel framework that jointly trains a neural network controller and a neural Riemannian metric with rigorous closed-loop contraction guarantees using formal bound propagation. Directly bounding the symmetric Riemannian…
In this note, we study Luenberger-type full-state observers for nonlinear systems using contraction theory. We show that if the matrix measure of a suitably defined Jacobian matrix constructed from the dynamics of the system-observer…
We study the linear Zakharov--Kuznetsov equation with periodic boundary conditions. Employing some tools from the nonharmonic Fourier series we obtain several internal observability theorems. Then we prove various exact controllability and…
This report proposes a discrete time observer for the continuous time rigid body kinematics on the rotation group $\mathbb{S}\mathbb{O}(3)$. The work draws on two research schools - one by Chang based on feedback integrators for systems…
The paper presents a novel approach to synthesize robust controllers for nonlinear systems along perturbed trajectories. The approach linearizes the system with respect to a reference trajectory. In contrast to existing methods rooted in…
With the rapid development of web services, large amounts of time series data are generated and accumulated across various domains such as finance, healthcare, and online platforms. As such data often co-evolves with multiple variables…
All existing 4-coordinate systems centered on the world-line of an accelerated observer are only locally defined like it happens for Fermi coordinates both in special and general relativity. As a consequence, it is not known how…
This paper proposes a novel distributed interval-valued simultaneous state and input observer for linear time-invariant (LTI) systems that are subject to attacks or unknown inputs injected both on their sensors and actuators. Each agent in…
We consider the problem of safe control design for a class of nonlinear, control-affine systems subject to an unknown, additive, nonlinear disturbance. Leveraging recent advancements in the application of Koopman operator theory to the…
Unlike for Linear Time-Invariant (LTI) systems, for nonlinear systems, there exists no general framework for systematic convex controller design which incorporates performance shaping. The Linear Parameter-Varying (LPV) framework sought to…
The dissipativity framework is widely used to analyze stability and performance of nonlinear systems. By embedding nonlinear systems in an LPV representation, the convex tools of the LPV framework can be applied to nonlinear systems for…
This work proposes a detectability condition for linear time-varying systems based on the exponential dichotomy spectrum. The condition guarantees the existence of an observer, whose gain is determined only by the unstable modes of the…
We describe a method of construction of gauge-invariant operators (Dirac observables or ``evolving constants of motion'') from the knowledge of the eigenstates of the gauge generator in time-reparametrization invariant mechanical systems.…
In this paper, a high-order nonlinear continuous integral-derivative observer is presented based on finite-time stability and singular perturbation technique. The proposed integral-derivative observer can not only obtain the multiple…
A novel approach to solve the problem of distributed state estimation of linear time-invariant systems is proposed in this paper. It relies on the application of parameter estimation-based observers, where the state observation task is…
Infinite-dimensional control systems with outputs are considered in the Hamiltonian formulation with generalized coordinates. An explicit scheme for constructing a dynamic observer for this class of systems is proposed with arbitrary gain…