Related papers: Piecewise Linear Approximation and PID Control Opt…
In this paper, a compressor system is analyzed in order to show its characteristics and design a control scheme to improve its efficiency. A mathematical technique has been created to forecast the onset of surge and instability in a…
We propose an approach to trajectory optimization for piecewise polynomial systems based on the recently proposed graphs of convex sets framework. We instantiate the framework with a convex relaxation of optimal control based on occupation…
This paper presents a stochastic model predictive control approach for nonlinear systems subject to time-invariant probabilistic uncertainties in model parameters and initial conditions. The stochastic optimal control problem entails a cost…
A comprehensive theory for robust PID control in continuous-time and discrete-time domain is reviewed in this paper. For a given finite set of linear time invariant plants, algorithms for fast computation of robustly stabilizing regions in…
This paper presents a set of robust PI tuning formulae for a first order plus dead time process using particle swarm optimization. Also, tuning formulae for an integrating process with dead time, which is a special case of a first order…
In recent years, different mathematical models have been proposed for widely used internet control mechanisms. Simple low order controllers (such as PID, and Smith predictor based linear controllers that are easy to implement) are desired…
Approximate computing trades off accuracy of results for resources such as energy or computing time. There is a large and rapidly growing literature on approximate computing that has focused mostly on showing the benefits of approximation.…
Reduced-order models have long been used to understand the behavior of nonlinear partial differential equations (PDEs). Naturally, reduced-order modeling techniques come at the price of computational accuracy for a decrease in computation…
Mobile robotic manipulators (MRMs), which integrate mobility and manipulation capabilities, present significant control challenges due to their nonlinear dynamics, underactuation, and coupling between the base and manipulator subsystems.…
The main goal of this paper is developing the method of discrete approximations to derive necessary optimality conditions for a class of constrained sweeping processes with nonsmooth perturbations. Optimal control problems for sweeping…
This paper considers the problem of determining an optimal control action based on observed data. We formulate the problem assuming that the system can be modelled by a nonlinear state-space model, but where the model parameters, state and…
This paper deals with some reachability issues for piecewise linear switched systems with time-dependent coefficients and multiplicative noise. Namely, it aims at characterizing data that are almost reachable at some fixed time T > 0…
The problem of suboptimality under bounded disturbances for the adaptive systems based on speed-graadient approach is discussed. A formulation of the estimated optimality of nonlinear nonlinearly parametrized adaptive control systems is…
This article proposes a data-driven PID controller design based on the principle of adaptive gain optimization, leveraging Physics-Informed Neural Networks (PINNs) generated for predictive modeling purposes. The proposed control design…
Path following controllers make the output of a control system approach and traverse a pre-specified path with no apriori time parametrization. In this paper we present a method for path following control design applicable to framed curves…
The paper presents a novel method for designing an optimal controller for discrete-time switched linear systems. The problem is formulated as one of computing the discrete mode sequence and the continuous input sequence that jointly…
This paper addresses the problem of tracking control for an unknown nonlinear system with time-varying bounded disturbance subjected to prescribed Performance and Input Constraints (PIC). Since simultaneous prescription of PIC involves a…
We present a method for representing the closed-loop dynamics of piecewise affine (PWA) systems with bounded additive disturbances and neural network-based controllers as mixed-integer (MI) linear constraints. We show that such…
Decentralized PID controllers have been designed in this paper for simultaneous tracking of individual process variables in multivariable systems under step reference input. The controller design framework takes into account the…
Reachable sets of nonlinear control systems can in general only be approximated numerically, and these approximations are typically very expensive to compute. In this paper, we explore a strategy for choosing the temporal and spatial…