Related papers: Design and Analysis of a Robust Control System for…
This paper develops a novel framework for power system stability analysis, that allows for the decentralized design of inverter based controllers. The method requires that each individual inverter satisfies a standard $H^\infty$ design…
This paper introduces an indirect adaptive fuzzy model predictive control strategy for a nonlinear rotational inverted pendulum with model uncertainties. In the first stage, a nonlinear prediction model is provided based on the fuzzy sets,…
Hybrid dynamical systems are viewed as the most complicated systems with continuous and event-based behaviors. Since traditional controllers cannot handle these systems, some newly-developed controllers have been published in recent decades…
In this paper, we study the stability of suboptimal H-infinity controllers for time-delay systems. The optimal H-infinity controller may have finitely or infinitely many unstable poles. A stable suboptimal H-infinity controller design…
This paper considers the optimization landscape of linear dynamic output feedback control with $\mathcal{H}_\infty$ robustness constraints. We consider the feasible set of all the stabilizing full-order dynamical controllers that satisfy an…
Grid-following and grid-forming inverters are integral components of microgrids and for integration of renewable energy sources with the grid. For grid following inverters, which need to emulate controllable current sources, a significant…
The inverted pendulum is a non-linear unbalanced system that needs to be controlled using motors to achieve stability and equilibrium. The inverted pendulum is constructed with Lego and using the Lego Mindstorm NXT, which is a programmable…
This paper presents a robust control synthesis and analysis framework for nonlinear systems with uncertain initial conditions. First, a deep learning-based lifting approach is proposed to approximate nonlinear dynamical systems with linear…
This paper presents an intelligent controller for uncertain underactuated nonlinear systems. The adopted approach is based on sliding mode control and enhanced by an artificial neural network to cope with modeling inaccuracies and external…
Deadline misses are more common in real-world systems than one may expect. The weakly-hard task model has become a standard abstraction to describe and analyze how often these misses occur, and has been especially used in control…
This paper presents an instability result of Hamiltonian systems associated with optimal swing-up control for a pendulum. The systems possess weak (higher-order) instability at the initial point of the swing-up control, the analysis for…
We present a new approach to parametric robust controller design, where we compute controllers of arbitrary order and structure which minimize the worst-case $H_\infty$ norm over a pre-specified set of uncertain parameters. At the core of…
We consider control strategies for large-scale interacting agent systems under uncertainty. The particular focus is on the design of robust controls that allow to bound the variance of the controlled system over time. To this end we…
Control of compliant mechanical systems is increasingly being researched for several applications including flexible link robots and ultra-precision positioning systems. The control problem in these systems is challenging, especially with…
Typically, it is desirable to design a control system that is not only robustly stable in the presence of parametric uncertainties but also guarantees an adequate level of system performance. However, most of the existing methods need to…
The robust disturbance rejection controller has been the subject of intensive research due to its undeniable importance for automation. Modern control theory tends to use model-based approaches versus model-free approaches, especially when…
This paper studies robustness of MIMO control systems with parametric uncertainties, and establishes a lower dimensional robust stability criterion. For control systems with interval transfer matrices, we identify the minimal testing set…
Envisioned applications for humanoid robots call for the design of balancing and walking controllers. While promising results have been recently achieved, robust and reliable controllers are still a challenge for the control community…
In this paper we study an optimal control problem that is affine in two-dimensional bounded control. The problem is related to the stabilization of an inverted spherical pendulum in the vicinity of the upper unstable equilibrium. We find…
For electro-optical imaging systems, line-of-sight stabilization against different disturbances created by mobile platforms is crucial property. The development of high resolution sensors and the demand in increased operating distances have…