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The design of optimal disturbance accommodation and servomechanism controllers with limited plant model information is considered in this paper. Their closed-loop performance are compared using a performance metric called competitive ratio…
Many traditional robust control approaches assume linearity of the system and independence between the system state-input and the parameters of its approximant (possibly lower-order) model. This assumption implies that the application of…
An integral extension of state-feedback controllers for linear time-varying plants is proposed, which preserves performance of the nominal controller in the unperturbed case. Similar to time-invariant state feedback with integral action,…
Underactuated systems pose the challenge of being able to control a plant whose degrees of freedom are not necessarily directly linked to an actuator or where such a relationship is not straightforward. Rotary inverted pendulum is an…
A dynamic backstepping method is proposed to design controllers for nonlinear systems in the pure-feedback form, for which the traditional backstepping method suffers from solving the implicit nonlinear algebraic equation. The idea of this…
This paper studies the data-driven control of unknown linear-threshold network dynamics to stabilize the state to a reference value. We consider two types of controllers: (i) a state feedback controller with feed-forward reference input and…
Variable impedance control is advantageous for physical human-robot interaction to improve safety, adaptability and many other aspects. This paper presents a gain-scheduled variable stiffness control approach under strict frequency-domain…
The goal of this paper is to clarify the robustness and performance constraints in the design of control systems based on disturbance observer (DOB). Although the bandwidth constraints of a DOB have long been very well-known by experiences…
This paper investigates robust synchronization for multi-agent systems (MASs) governed by parabolic partial differential equations in the presence of both observable and unobservable disturbances. Using only boundary output measurements, a…
This paper presents the analysis and a method to design supplementary damping controllers (SDCs) for synchronous generators considering the effects of saturation limits. Usually such saturations of control signals are imposed in order to…
Predictive Feedback Control is an easy-to-implement method to stabilize unknown unstable periodic orbits in chaotic dynamical systems. Predictive Feedback Control is severely limited because asymptotic convergence speed decreases with…
In this paper we explore the stabilization of closed invariant sets for passive systems, and present conditions under which a passivity-based feedback asymptotically stabilizes the goal set. Our results rely on novel reduction principles…
We will present a new general framework for robust and adaptive control that allows for distributed and scalable learning and control of large systems of interconnected linear subsystems. The control method is demonstrated for a linear…
This paper presents a new robust data-driven predictive control scheme for unknown linear time-invariant systems by using input-state-output or input-output data based on whether the state is measurable. To remove the need for the…
This paper presents a new control, namely additive-state-decomposition dynamic inversion stabilized control, that is used to stabilize a class of multi-input multi-output (MIMO) systems subject to nonparametric time-varying uncertainties…
This note proposes a data-driven output-feedback stabilizing policy iteration for unknown linear discrete-time systems with unmeasurable states. Existing policy iteration methods for optimal control must start from a stabilizing control…
Delayed feedback control is an easy realizable control method which generates control force by comparing the current and the delayed version of the system states. In this paper, a new form of the delayed feedback structure is introduced.…
This paper investigates the decentralized stabilization problem for a class of interconnected systems in the presence of non-triangular structural uncertainties and time-varying parameters, where each subsystem exchanges information only…
This paper proposes a new robust data-driven control method for linear systems with bounded disturbances, where the system model and disturbances are unknown. Due to disturbances, accurately determining the true system becomes challenging…
Passivity theory has recently contributed to developing decentralized control schemes for large-scale systems. Many decentralized passivity-based control schemes are designed in continuous-time. It is well-known, however, that the passivity…