Related papers: Open-loop control design for contraction in affine…

We investigate the incremental stability properties of It\^o stochastic dynamical systems. Specifically, we derive a stochastic version of nonlinear contraction theory that provides a bound on the mean square distance between any two…

It is nontrivial to achieve exponential stability even for time-invariant nonlinear systems with matched uncertainties and persistent excitation (PE) condition. In this paper, without the need for PE condition, we address the problem of…

For a partially unknown linear systems, we present a systematic control design approach based on generated data from measurements of closed-loop experiments with suitable test controllers. These experiments are used to improve the achieved…

This paper presents the control and stabilization of the rotary inverted pendulum based on a general controller scheme. The proposed scheme has its foundation in classical control theory, and the importance of an integrator in disturbance…

This paper introduces control barrier functions for discrete-time systems, which can be shown to be necessary and sufficient for controlled invariance of a given set. Moreover, we propose nonlinear discrete-time control barrier functions…

This work proposes a two-layered control scheme for constrained nonlinear systems represented by a class of recurrent neural networks and affected by additive disturbances. In particular, a base controller ensures global or regional…

Real-world control applications in complex and uncertain environments require adaptability to handle model uncertainties and robustness against disturbances. This paper presents an online, output-feedback, critic-only, model-based…

Here we deal with the stabilization problem of non-diagonal systems by boundary control. In the studied setting, the boundary control input is subject to a constant delay. We use the spectral decomposition method and split the system into…

Hyperexponential stability is investigated for dynamical systems with the use of both, explicit and implicit, Lyapunov function methods. A nonlinear hyperexponential control is designed for stabilizing linear systems. The tuning procedure…

For a general class of dynamical systems (of which the canonical continuous and uniform discrete versions are but special cases), we prove that there is a state feedback gain such that the resulting closed-loop system is uniformly…

We tackle the problem of providing closed-loop stability guarantees with a scalable data-driven design. We combine virtual reference feedback tuning with dissipativity constraints on the controller for closed-loop stability. The constraints…

In this paper, we propose a self-triggered formulation of Model Predictive Control for continuous-time nonlinear input-affine networked control systems. Our control method specifies not only when to execute control tasks but also provides a…

This work primarily focuses on an operator inference methodology aimed at constructing low-dimensional dynamical models based on a priori hypotheses about their structure, often informed by established physics or expert insights. Stability…

We present an improvement of a recent funnel controller design for uncertain nonlinear multi-input, multi-output systems modeled by higher order functional differential equations in the presence of input constraints. The objective is to…

A continuous adaptive control design is developed for nonlinear dynamical systems with linearly parameterizable uncertainty involving time-varying uncertain parameters. The key feature of this design is a robust integral of the sign of the…

This note proposes a data-driven output-feedback stabilizing policy iteration for unknown linear discrete-time systems with unmeasurable states. Existing policy iteration methods for optimal control must start from a stabilizing control…

In this manuscript, we investigate symbolic abstractions that capture the behavior of piecewise-affine systems under input constraints and bounded external noise. This is accomplished by considering local affine feedback controllers that…

In this paper, a novel online, output-feedback, critic-only, model-based reinforcement learning framework is developed for safety-critical control systems operating in complex environments. The developed framework ensures system stability…

This note studies the robust output feedback stabilization problem of a class of multi-input multi-output invertible nonlinear systems, for which an "ideal" state feedback based on feedback linearization can be designed under certain mild…

Closed-loop positivity of feedback interconnections of positive monotone nonlinear systems is investigated. It is shown that an instantaneous gain condition on the open-loop systems which implies feedback well-posedness also guarantees…