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The rapidly increasing capabilities of large language models (LLMs) raise an urgent need to align AI systems with diverse human preferences to simultaneously enhance their usefulness and safety, despite the often conflicting nature of these…
Synchronous reference frame phase-looked loop (SRF-PLL) techniques are widely used for interfacing and control applications in the power systems and energy conversion at large. Since a PLL system synchronizes its output with an exogenous…
Patient outcomes in the medical field are improving through the use and incorporation of robotics technology and laser physics, e.g., the use of optical fibers and lasers in micro-surgery. This paper describes the design and implementation…
Large Language Models (LLMs) have revolutionized various applications by generating outputs based on given prompts. However, achieving the desired output requires iterative prompt refinement. This paper presents a novel approach that draws…
Large language models in the past have typically relied on some form of reinforcement learning with human feedback (RLHF) to better align model responses with human preferences. However, because of oft-observed instabilities when…
Multi-Objective Learning Model Predictive Control is a novel data-driven control scheme which improves a linear system's closed-loop performance with respect to several convex control objectives over iterations of a repeated task. At each…
While classic control theory offers state of the art solutions in many problem scenarios, it is often desired to improve beyond the structure of such solutions and surpass their limitations. To this end, residual policy learning (RPL)…
Precision motion stages are playing a prominent role in various manufacturing equipment. The drastically increasing demand for higher throughput in integrated circuit (IC) manufacturing and inspection calls for the next-generation precision…
Delayed feedback control is an easy realizable control method which generates control force by comparing the current and the delayed version of the system states. In this paper, a new form of the delayed feedback structure is introduced.…
A single longitudinal mode fiber laser with ultra-narrow linewidth based on self-injection feedback by using the linewidth compress mechanism of Rayleigh backscattering (RBS) are proposed and demonstrated. Since the linewidth of RBS is…
Near Rectilinear Halo Orbits (NRHOs), a subclass of halo orbits around the L1 and L2 Lagrange points, are promising candidates for future lunar gateways in cis-lunar space and as staging orbits for lunar missions. Closed-loop control is…
This paper deals with the backstepping design of observer-based compensators for parabolic ODE-PDE-ODE systems. The latter consist of n coupled parabolic PDEs with distinct diffusion coefficients and spatially-varying coefficients, that are…
Peak-to-average power ratio (PAPR) remains a major limitation of multicarrier modulation schemes such as orthogonal frequency-division multiplexing (OFDM), reducing power amplifier efficiency and limiting practical transmit power. In this…
In this paper, we propose several rules to tune the gains for a class of passivity-based controllers for nonlinear mechanical systems. Such tuning rules prescribe a desired local transient response behavior to the closed-loop system. To…
Many existing region-of-attraction (ROA) analysis tools find difficulty in addressing feedback systems with large-scale neural network (NN) policies and/or high-dimensional sensing modalities such as cameras. In this paper, we tailor the…
Reinforcement learning from human feedback (RLHF) has emerged as a reliable approach to aligning large language models (LLMs) to human preferences. Among the plethora of RLHF techniques, proximal policy optimization (PPO) is of the most…
Active components, such as actuators, constitute a fundamental aspect of engineering systems, affording the freedom to shape system behavior as desired. However, this capability necessitates energy consumption, primarily in the form of…
Feedforward steering control is a key component of hierarchical control architectures for autonomous racing. The goal is to reduce steering corrections from the feedback controllers by predicting the vehicle's inverse lateral dynamics. This…
Coherent feedback is a non-measurement based, hence a back-action free, method of control for quantum systems. A typical application of this control scheme is squeezing enhancement, a purely non-classical effect in quantum optics. In this…
The control of devices with limited input always bring attention to solve by research due to its difficulty and non-trival solution. For instance, the inverted pendulum is benchmarking problem in control theory and machine learning. In this…