Related papers: Nonuniform complete observability; preservation by…
In the present paper we consider controllability and observability of second order linear time invariant systems in matrix form. Without reducing into first order systems we show how the classical conditions for first order linear systems…
In this paper we deal with infinite-dimensional nonlinear forward complete dynamical systems which are subject to external disturbances. We first extend the well-known Datko lemma to the framework of the considered class of systems. Thanks…
Two nested classes of discrete-time linear time-invariant systems, which differ by the set of periodic signals that they leave invariant, are studied. The first class preserves the property of periodic monotonicity (period-wise…
Experimental continuation encompasses a set of methods that combine control and continuation to obtain the full bifurcation diagram of a nonlinear system experimentally, including responses that would be unstable in the system without…
This paper proposes a framework for adaptively learning a feedback linearization-based tracking controller for an unknown system using discrete-time model-free policy-gradient parameter update rules. The primary advantage of the scheme over…
Funnel control achieves output tracking with guaranteed tracking performance for unknown systems and arbitrary reference signals. In particular, the tracking error is guaranteed to satisfy time-varying error bounds for all times (it evolves…
For a general class of translationally invariant systems with a specific category of nonlinearity in the output, this paper presents necessary and sufficient conditions for global observability. Critically, this class of systems cannot be…
In [1], it is established that a convergent observer with an infinite gain margin can be designed for a given nonlinear system when a Riemannian metric showing that the system is differentially detectable (i.e., the Lie derivative of the…
A new formulation of Stochastic Model Predictive Output Feedback Control is presented and analyzed as a translation of Stochastic Optimal Output Feedback Control into a receding horizon setting. This requires lifting the design into a…
Inverse optimal control can be used to characterize behavior in sequential decision-making tasks. Most existing work, however, is limited to fully observable or linear systems, or requires the action signals to be known. Here, we introduce…
Dynamic feedback linearization-based methods allow us to design control algorithms for a fairly large class of nonlinear systems in continuous time. However, this feature does not extend to their sampled counterparts, i.e., for a given…
This paper utilizes the recently proposed cubic observer to estimate the state of a class of nonlinear systems. The cubic observer is proposed as an alternative to linear observers for improved convergence rate and robustness. It is shown…
Besides parametric uncertainties and disturbances, the unmodeled dynamics and time delay at the input are often present in practical systems, which cannot be ignored in some cases. This paper aims to solve output feedback tracking control…
This work develops a new direct adaptive control framework that extends the certainty equivalence principle to general nonlinear systems with unmatched model uncertainties. The approach adjusts the rate of adaptation online to eliminate the…
In this paper, we consider the problems of approximating uncertainties and feedback control for a class of nonlinear systems without full-known states, and two approximation methods are proposed: universal approximation using integral-chain…
This paper investigates the output feedback stabilization of parabolic equation with Lipschitz nonlinearity over general multidimensional domain using spectral geometry theories. First, a novel nonlinear observer is designed, and the error…
An integral extension of state-feedback controllers for linear time-varying plants is proposed, which preserves performance of the nominal controller in the unperturbed case. Similar to time-invariant state feedback with integral action,…
This published paper investigates the distributed tracking control problem for a class of Euler-Lagrange multi-agent systems when the agents can only measure the positions. In this case, the lack of the separation principle and the strong…
Designing Luenberger observers for nonlinear systems involves the challenging task of transforming the state to an alternate coordinate system, possibly of higher dimensions, where the system is asymptotically stable and linear up to output…
This paper presents a data-driven nonlinear safe control design approach for discrete-time systems under parametric uncertainties and additive disturbances. We first characterize a new control structure from which a data-based…