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Hybrid dynamical systems are systems which posses both continuous and discrete transitions. Assuming that the discrete transitions (resets) occur a finite number of times, the optimal control problem can be solved by gluing together the…
Delays are ubiquitous in modern hybrid systems, which exhibit both continuous and discrete dynamical behaviors. Induced by signal transmission, conversion, the nature of plants, and so on, delays may appear either in the continuous…
Digital twins, which are a new concept in industrial control systems (ICS), play a key role in realizing the vision of a smart factory, and they can have different effective use cases. With digital twins, we have virtual replicas of…
This paper presents an anti-windup PI controller, using a saturating integrator, for a single-input single-output stable nonlinear plant, whose steady-state input-output map is increasing. We prove that, under reasonable assumptions, there…
This paper proposes a hybrid Gaussian process (GP) approach to robust economic model predictive control under unknown future disturbances in order to reduce the conservatism of the controller. The proposed hybrid GP is a combination of two…
The robust stability problem involves designing a controlled system which remains stable in the presence of modeling uncertainty. In this context, results known as small gain theorems are used to quantify the maximum amount of uncertainty…
We aim at an understanding of the dynamical properties of a periodically driven damped harmonic oscillator coupled to a Random Field Ising Model (RFIM) at zero temperature, which is capable to show complex hysteresis. The system is a…
Networked Control Systems (NCS) are distributed systems where plants, sensors, actuators and controllers communicate over shared networks. Non-ideal behaviors of the communication network include variable sampling/transmission intervals and…
Hybrid dynamical systems with nonlinear dynamics are one of the most general modeling tools for representing robotic systems, especially contact-rich systems. However, providing guarantees regarding the safety or performance of nonlinear…
This article develops variational integrators for a class of underactuated mechanical systems using the theory of discrete mechanics. Further, a discrete optimal control problem is formulated for the considered class of systems and…
We consider the feedback design for stabilizing a rigid body system by making and breaking multiple contacts with the environment without prespecifying the timing or the number of occurrence of the contacts. We model such a system as a…
Assuring safety in discrete time stochastic hybrid systems is particularly difficult when only noisy or incomplete observations of the state are available. We first review a formulation of the probabilistic safety problem under noisy hybrid…
Standard formulations of prescribed worst-case disturbance energy-gain control policies for linear time-varying systems depend on all forward model data. In discrete time, this dependence arises through a backward Riccati recursion. This…
Virtual inertia controllers (VICs) for wind turbine generators (WTGs) have been recently developed to compensate for the reduction of inertia in power systems. However, VICs can induce low-frequency torsional oscillations of the drive train…
A Controller Area Network (CAN) bus in the vehicles is an efficient standard bus enabling communication between all Electronic Control Units (ECU). However, CAN bus is not enough to protect itself because of lack of security features. To…
The problem of finding a finite state symbolic model which is bisimilar to a hybrid dynamical system (HDS) and has the minimum number of states is considered. The considered class of HDS allows for discrete-valued inputs that only affect…
In this paper, we derive new passive maps akin to incremental passive maps, for a class of nonlinear systems using dynamic feedback and Krasovskii's method. Further using the passive maps we present a control methodology for stabilization…
An adaptive controller with bounded l2-gain from disturbances to errors is derived for linear time-invariant systems with uncertain parameters restricted to a finite set. The gain bound refers to the closed loop system, including the…
This paper presents a novel control strategy to herd a group of non-cooperative evaders by means of a team of robotic herders. In herding problems, the motion of the evaders is typically determined by strong nonlinear reactive dynamics,…
This paper proposes a prescribed performance function aware hybrid gain finite time sliding mode control framework for a class of nonlinear systems subject to matched disturbances. The hybrid gain structure ensures bounded control effort…