Related papers: Disturbance Decoupling Problem for $n$-link chain …
In this document, we deal with the stabilization problem of slow-fast systems (or singularly perturbed Ordinary Differential Equations) at a non-hyperbolic point. The class of systems studied here have the following properties: 1) they have…
We study the minimum-time damping of a physical pendulum by means of a bounded control. In the similar problem for a linear oscillator each optimal trajectory possesses a finite number of control switchings from the maximal to the minimal…
Creating a simulation of a system enables the tuning of control systems without the need for a physical system. In this paper, we employ Lagrangian Mechanics to derive a set of equations to simulate an inverted pendulum on a cart. The…
This paper is concerned with the analysis of a class of impacting systems of relevance in applications: cam-follower systems. We show that these systems, which can be modelled as discontinuously forced impact oscillators, can exhibit…
We investigate the nonlinear effect of a pendulum with the upper end fixed to an elastic rod which is only allowed to vibrate horizontally. The pendulum will start rotating and trace a delicate stationary pattern when released without…
The noise decoupling problem is investigated for general N-level Markovian open quantum systems. Firstly, the concept of Cartan decomposition of the Lie algebra $su(N)$ is introduced as a tool of designing control Hamiltonians. Next, under…
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…
In this paper we consider the problem of stabilization and tracking of desired state trajectory for a wide range of nonlinear control problems with disturbances. We present the sufficient conditions for the existence of $C^k$ state feedback…
In this paper it is established that any jointly controllable, jointly observable, multi-channel, discrete or continuous time linear system with a strongly connected neighbor (communication) graph can be exponentially stabilized with any…
We consider the modeling, stability analysis and controller design problems for discrete-time LTI systems with state feedback, when the actuation signal is subject to switching propagation delays, due to e.g. the routing in a multi-hop…
This paper investigates the car-following problem and proposes a nonlinear controller that considers driving comfort, safety concerns, steady-state response and transient response. This controller is designed based on the demands of lower…
We consider a classical problem of control of an inverted pendulum by means of a horizontal motion of its pivot point. We suppose that the control law can be non-autonomous and non-periodic w.r.t. the position of the pendulum. It is shown…
We consider a chain of coupled pendula pairs, where each pendulum is connected to the nearest neighbors in the longitudinal and transverse directions. The common strings in each pair are modulated periodically by an external force. In the…
Protecting quantum states from the decohering effects of the environment is of great importance for the development of quantum computation devices and quantum simulators. Here, we introduce a continuous dynamical decoupling protocol that…
This paper presents an instability result of Hamiltonian systems associated with optimal swing-up control for a pendulum. The systems possess weak (higher-order) instability at the initial point of the swing-up control, the analysis for…
This paper studies the disturbance decoupling problem by dynamic output feedback with required closed-loop stability, in the general case of nonstrictly-proper systems. We will show that the extension of the geometric solution based on the…
The method of controlled Lagrangians for discrete mechanical systems is extended to include potential shaping in order to achieve complete state-space asymptotic stabilization. New terms in the controlled shape equation that are necessary…
A recent general model of entanglement, [5], that goes much beyond the usual one based on tensor products of vector spaces is further developed here. It is shown that the usual Cartesian product can be seen as two extreme particular…
Using tools and techniques from geometric control theory, namely Hermann-Nagano theorem, we prove controllability result for a mechanical system consisting of a planar double inverted pendulum fixed to a wheeled cart that can move linearly…
We investigate how robust is the modified XX spin-1/2 chain of [R. Vieira and G. Rigolin, Phys. Lett. A 382, 2586 (2018)] in transmitting entanglement when several types of disorder and noise are present. First, we consider how deviations…