Related papers: A Triangular Normal Form for x-Flat Control-Affine…
This paper introduces a novel robust closed-form control law to handle time-varying hard and soft constraints in uncertain high-relative-degree nonlinear MIMO systems. These constraints represent spatiotemporal specifications in mechanical…
The paper is devoted to the local classification of generic control-affine systems on an n-dimensional manifold with scalar input for any n>3 or with two inputs for n=4 and n=5, up to state-feedback transformations, preserving the affine…
Formation control deals with the design of decentralized control laws that stabilize mobile, autonomous agents at prescribed distances from each other. We call any configuration of the agents a target configuration if it satisfies the…
The study of the behavior of solutions of ODEs often benefits from deciding on a convenient choice of coordinates. This choice of coordinates may be used to "simplify" the functional expressions that appear in the vector field in order that…
This paper applies the recently developed framework for integral control on nonlinear spaces to two non-standard cases. First, we show that the property of perfect target stabilization in presence of actuation bias holds also if this bias…
Delaunay flip is an elegant, simple tool to convert a triangulation of a point set to its Delaunay triangulation. The technique has been researched extensively for full dimensional triangulations of point sets. However, an important case of…
This paper is devoted to the study of the flatness property of linear time-invariant fractional systems. In the framework of polynomial matrices of the fractional derivative operator, we give a characterization of fractionally flat outputs…
Tracking of reference signals is addressed in the context of a class of nonlinear controlled systems modelled by $r$-th order functional differential equations, encompassing inter alia systems with unknown "control direction" and dead-zone…
This paper provides a detailed introduction into the differential algebra (DA) based normal form algorithm using the example of the symplectic one dimensional system of the centrifugal governor. The intention of this paper is to make the…
We investigate necessary and sufficient conditions under which a general nonlinear affine control system with outputs can be written as a gradient control system corresponding to some pseudo-Riemannian metric defined on the state space. The…
While computation-enabled cryptosystems applied to control systems have improved security and privacy, a major issue is that the number of recursive operations on encrypted data is limited to a finite number of times in most cases,…
Linear attention has emerged as a cornerstone for efficient long-context architectures, as evidenced by its integration into state-of-the-art open-source models including Qwen3.5/3.6, Kimi Linear, and RWKV-7. Models that incorporate linear…
This work considers the open-loop control problem of steering a two level quantum system from an initial to a final condition. The model of this system evolves on the state space SU(2), having two inputs that correspond to the complex…
Here the polynomial interpolation approach is used to introduce the main results on multivariate normal algebraic systems. Next we bring a construction which shows that any standard algebraic system, with finite set of solutions, can be…
We show that a bilinear control system is approximately controllable if and only if it is controllable in $\mathbb{R}^{n}\setminus\{0\}$. We approach this problem by looking at the foliation made by the orbits of the system, and by showing…
We address the problem of output reference tracking for unknown non-linear multi-input, multi-output systems described by functional differential equations. This class of systems includes those with a strict relative degree, and…
This chapter presents an approach to embed the input/state/output constraints in a unified manner into the trajectory design for differentially flat systems. To that purpose, we specialize the flat outputs (or the reference trajectories) as…
This paper proposes a robust control method based on sliding mode design for two-level quantum systems with bounded uncertainties. An eigenstate of the two-level quantum system is identified as a sliding mode. The objective is to design a…
Framing triangulations of unit flow polytopes have received a great deal of recent study with rich connections to various generalizations of Catalan and Cambrian combinatorics as well as volume and h*-polynomial formulas. This story has…
In this paper, we introduce a definition of discrete conformality for triangulated surfaces with flat cone metrics and describe an algorithm for solving the problem of prescribing curvature, that is to deform the metric discrete conformally…