Related papers: A Triangular Normal Form for x-Flat Control-Affine…

In this paper we propose a new design paradigm, which employing a postprocessing internal model unit, to approach the problem of output regulation for a class of multivariable minimum-phase nonlinear systems possessing a partial normal…

We present an improvement of a recent funnel controller design for uncertain nonlinear multi-input, multi-output systems modeled by higher order functional differential equations in the presence of input constraints. The objective is to…

We derive a closed-form expression for the projection onto a capped rotated second-order cone -- a convex set that arises in perspective relaxations of nonlinear programs with binary indicator variables. The closed-form solution involves…

This paper proposes a funnel control method under time-varying hard and soft output constraints. First, an online funnel planning scheme is designed that generates a constraint consistent funnel, which always respects hard (safety)…

This paper shows how to obtain a simple closed form for the elements of a triangular matrix raised to the nth power.

Matrices over the ring of formal power series are considered. Normal forms with respect to various sub-groups of the two-sided transformations are constructed. The construction is based on the special property of the action: it induces a…

Using the properties of differential flatness, a controllable system, such as a quadcoper model, may be transformed into a linear equivalent system via a coordinate change and an input mapping. This is a straightforward advantage for the…

This paper proposes a novel control framework for handling (potentially coupled) multiple time-varying output constraints for uncertain nonlinear systems. First, it is shown that the satisfaction of multiple output constraints boils down to…

We consider nonlinear control systems of the so-called generalized triangular form (GTF) with time-varying and periodic dynamics which linearly depends on some external disturbances. Our purpose is to construct a feedback controller which…

We address the problem of output reference tracking for unknown nonlinear multi-input, multi-output systems with relative degree two and bounded-input bounded-state (BIBS) stable internal dynamics. We propose a novel model-free adaptive…

This paper considers a class of bilinear systems with a neural network in the loop. These arise naturally when employing machine learning techniques to approximate general, non-affine in the input, control systems. We propose a controller…

In this letter, a new notion of stability is introduced, which is called triangular stability. A system is called triangularly stable if the norm of its state vector is bounded by a decreasing linear function of time such that its…

This paper gives sharp linear bounds on the genus of a normal surface in a triangulated compact, orientable 3--manifold in terms of the quadrilaterals in its cell decomposition---different bounds arise from varying hypotheses on the surface…

We define a notion of normal form bisimilarity for the untyped call-by-value lambda calculus extended with the delimited-control operators shift and reset. Normal form bisimilarities are simple, easy-to-use behavioral equivalences which…

Triangulation of a three-dimensional point from at least two noisy 2-D images can be formulated as a quadratically constrained quadratic program. We propose an algorithm to extract candidate solutions to this problem from its semidefinite…

The paper concerns fractal homeomorphism between the attractors of two bi-affine iterated function systems. After a general discussion of bi-affine functions, conditions are provided under which a bi-affine iterated function system is…

The purpose of this paper is to explore the concept of trivial control systems, namely systems whose dynamics depends on the controls only. Trivial systems have been introduced and studied by Serres in the the context of control-nonlinear…

Given a triangulation of a closed, oriented, irreducible, atoroidal 3-manifold every oriented, incompressible surface may be isotoped into normal position relative to the triangulation. Such a normal oriented surface is then encoded by…

In this paper, for continuous, linearly-controllable quadratic control systems with a single input, an explicit, constructive method is proposed for studying their Brunovsky forms, initially studied in [W. Kang and A. J. Krener, Extended…

Weighted and controlled frames have been introduced recently to improve the numerical efficiency of iterative algorithms for inverting the frame operator. In this paper we develop systematically these notions, including their mutual…