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This article deals with the implementation of the Smith Predictor for state feedback control in state space representation. The desired control law, obtained using partial differential equations and backstepping control, contains an…
We present a set of model-free, reduced-dimensional reinforcement learning (RL) based optimal control designs for linear time-invariant singularly perturbed (SP) systems. We first present a state-feedback and output-feedback based RL…
In this paper, we propose a novel dynamic state-feedback controller for polytopic linear parameter-varying (LPV) systems with constant input matrix. The controller employs a projected gradient flow method to continuously improve its control…
The main drawbacks of input-output linearizing controllers are the need for precise dynamics models and not being able to account for input constraints. Model uncertainty is common in almost every robotic application and input saturation is…
We present an extension of Willems' Fundamental Lemma to the class of multi-input multi-output discrete-time feedback linearizable nonlinear systems, thus providing a data-based representation of their input-output trajectories. Two sources…
This paper develops a new model reference adaptive control (MRAC) framework using partial-state feedback for solving a multivariable adaptive output tracking problem. The developed MRAC scheme has full capability to deal with plant…
In order to certify performance and safety, feedback control requires precise characterization of sensor errors. In this paper, we provide guarantees on such feedback systems when sensors are characterized by solving a supervised learning…
In this paper, we provide a direct data-driven approach to synthesize safety controllers for unknown linear systems affected by unknown-but-bounded disturbances, in which identifying the unknown model is not required. First, we propose a…
We study state-feedback design for continuous-time LTI systems with a control input and an external input-output pair. Our objective is to determine feedback gains that render the closed-loop system (strictly) passive with respect to the…
In this paper, we will consider a class of continuous-time stochastic control systems with both unknown nonlinear structure and unknown disturbances, and investigate the capability of the classical proportional-integral-derivative(PID)…
Output reference tracking of unknown nonlinear systems is considered. The control objective is exact tracking in predefined finite time, while in the transient phase the tracking error evolves within a prescribed boundary. To achieve this,…
We study the sample-data control problem of output tracking and disturbance rejection for unstable well-posed linear infinite-dimensional systems with constant reference and disturbance signals. We obtain a sufficient condition for the…
In the present paper we focus our attention on the design of the feedback-based feed-forward controller asymptotically stabilizing the double-pendulum-type crane system with the time-varying rope length in the desired end position of…
This paper considers the problem of output feedback control for non-square multi-input multi-output systems with arbitrary relative degree. The proposed controller, based on the L1 adaptive control architecture, is designed using the right…
Robust global stabilization of nonlinear systems by observer-based feedback controllers is a challenging task. This article investigates the problem of designing observer-based stabilizing controllers for incrementally quadratic nonlinear…
This note presents the design and analysis of an adaptive controller for a class of linear plants in the presence of output feedback. This controller makes use of a closed-loop reference model as an observer, and guarantees global stability…
We examine robust output feedback control of discrete-time nonlinear systems with bounded uncertainties affecting the dynamics and measurements. Specifically, we demonstrate how to construct semi-infinite programs that produce gains to…
This paper proposes a tracking controller based on the concept of flat inputs and a dynamic compensator. Flat inputs represent a dual approach to flat outputs. In contrast to conventional flatness-based control design, the regulated output…
In this paper, a novel robust output regulation control framework is proposed for the system subject to noise, modeled disturbance and unmodeled disturbance to seek tracking performance and robustness simultaneously. The output regulation…
We study the problem of optimal state-feedback tracking control for unknown discrete-time deterministic systems with input constraints. To handle input constraints, state-of-art methods utilize a certain nonquadratic stage cost function,…