Related papers: On Triangular Forms for x-Flat Control-Affine Syst…
In this paper, a multiplicity preserving triangular set decomposition algorithm is proposed for a system of two polynomials. The algorithm decomposes the variety defined by the polynomial system into unmixed components represented by…
In this paper, by using the Brunovsky normal form, we provide a reformulation of the problem consisting in finding the actuator design which minimizes the controllability cost for finite-dimensional linear systems with scalar controls. Such…
We show that a bilinear control system is approximately controllable if and only if it is controllable in $\mathbb{R}^{n}\setminus\{0\}$. We approach this problem by looking at the foliation made by the orbits of the system, and by showing…
Modern data-driven control applications call for flexible nonlinear models that are amenable to principled controller synthesis and realtime feedback. Many nonlinear dynamical systems of interest are control affine. We propose two novel…
The eXtended Finite Element Method (XFEM) is used to solve interface problems with an unfitted mesh. We present an implementation of the XFEM in the FEM-library deal.II. The main parts of the implementation are (i) the appropriate…
We present the results of a large-scale simulation of a Dynamically Triangulated Random Surface with extrinsic curvature embedded in three-dimensional flat space. We measure a variety of local observables and use a finite size scaling…
The demand of two-dimensional source coding and constrained coding has been getting higher these days, but compared to the one-dimensional case, many problems have remained open as the analysis is cumbersome. A main reason for that would be…
We introduce a theoretical framework for resource-efficient characterization and control of non-Markovian open quantum systems, which naturally allows for the integration of given, experimentally motivated, control capabilities and…
A novel control design approach for general nonlinear systems is described in this paper. The approach is based on the identification of a polynomial model of the system to control and on the on-line inversion of this model. Extensive…
This paper completely solves the controllability problems of two-dimensional multi-input discrete-time bilinear systems with and without drift. Necessary and sufficient conditions for controllability, which cover the existing results, are…
There has recently been an increased interest in reinforcement learning for nonlinear control problems. However standard reinforcement learning algorithms can often struggle even on seemingly simple set-point control problems. This paper…
An input-output model of a two-level quantum system in the Heisenberg picture is of bilinear form with constant system matrices, which allows the introduction of the concepts of controllability and observability in analogy with those of…
This paper is motivated by the problem of asymptotically stabilizing invariant sets in the state space of control systems by means of output feedback. The sets considered are smooth embedded in submanifolds and the class of system is…
This paper shows that the dynamics of a general class of aerial manipulators, consist of an underactuated multi-rotor base with an arbitrary k-linked articulated manipulator, are differentially flat. Methods of Lagrangian Reduction under…
This note presents an extension to the adaptive control strategy presented in [1] able to counter eventual instability due to disturbances at the input of an otherwise $\mathcal{L}_2$ stable closed-loop system. These disturbances are due to…
An irreducible canonical approach to second-order reducible second-class constraints is given. The procedure is exemplified on gauge-fixed three-forms.
In the quest for Explainable Artificial Intelligence (XAI) one of the questions that frequently arises given a decision made by an AI system is, ``why was the decision made in this way?'' Formal approaches to explainability build a formal…
The present paper deals with permutations induced by tame automorphisms over finite fields. The first main result is a formula for determining the sign of the permutation induced by a given elementary automorphism over a finite field. The…
Many nonlinear optimal control and optimization problems involve constraints that combine continuous dynamics with discrete logic conditions. Standard approaches typically rely on mixed-integer programming, which introduces scalability…
This article presents a scalable implementation of nonlinear Gramian-based control synthesis for control-affine systems, including a minimum energy control construction. These synthesis advances are achieved by addressing key computational…