Related papers: Reset Controller Analysis and Design for Unstable …
This paper investigates the finite time stabilization problem for a class of nonlinear systems with unknown control directions and unstructured uncertainties. The unstructured uncertainties indicate that not only the parameters but also the…
Deep reinforcement learning approaches are becoming appealing for the design of nonlinear controllers for voltage control problems, but the lack of stability guarantees hinders their deployment in real-world scenarios. This paper constructs…
Reset controllers have demonstrated their effectiveness in enhancing performance in precision motion systems. To further exploiting the potential of reset controllers, this study introduces a parallel-partial reset control structure.…
We present three dynamic error feedback controllers for robust output regulation of regular linear systems. These controllers are (i) a minimal order robust controller for exponentially stable systems (ii) an observer-based robust…
Stability is a critical feature of distributed linear multi-input-multi-output systems. Global asymptotic stability usually can be guaranteed when using decentralised or distributed control architectures, if: (i) conservative controllers…
This paper studies the stabilization for a kind of linear and impulse control systems in finite-dimensional spaces, where impulse instants appear periodically. We present several characterizations on the stabilization; show how to design…
Scaled relative graphs were recently introduced to analyze the convergence of optimization algorithms using two dimensional Euclidean geometry. In this paper, we connect scaled relative graphs to the classical theory of input/output…
We provide a new perspective to understand why reinforcement learning (RL) struggles with robustness and generalization. We show, by examples, that local optimal policies may contain unstable control for some dynamic parameters and…
We consider the problem of stabilization of a linear system, under state and control constraints, and subject to bounded disturbances and unknown parameters in the state matrix. First, using a simple least square solution and available…
We consider the modeling, stability analysis and controller design problems for discrete-time LTI systems with state feedback, when the actuation signal is subject to switching propagation delays, due to e.g. the routing in a multi-hop…
An optimal control law for networked control systems with a discrete-time linear time-invariant (LTI) system as plant and networks between sensor and controller as well as between controller and actuator is proposed. This controller is…
We present an estimator-based control design procedure for flow control, using reduced-order models of the governing equations, linearized about a possibly unstable steady state. The reduced models are obtained using an approximate balanced…
We propose a two-phase risk-averse architecture for controlling stochastic nonlinear robotic systems. We present Risk-Averse Nonlinear Steering RRT* (RANS-RRT*) as an RRT* variant that incorporates nonlinear dynamics by solving a nonlinear…
This paper provides a method to analyze the small-signal L2 gain of control-affine nonlinear systems on compact sets via iterative semi-definite programs. First, a continuous piecewise affine storage function and the corresponding upper…
In process operations, it is desirable to manage the sensitivity of the system output against external disturbance in the form of finite $\mathcal{L}_2$-gain stabilization. This matter is, however, nonsensical for stochastic systems because…
Underactuated systems pose the challenge of being able to control a plant whose degrees of freedom are not necessarily directly linked to an actuator or where such a relationship is not straightforward. Rotary inverted pendulum is an…
An adaptive controller with bounded l2-gain from disturbances to errors is derived for linear time-invariant systems with uncertain parameters restricted to a finite set. The gain bound refers to the closed loop system, including the…
Grid-interfacing inverters act as the interface between renewable resources and the electric grid, and have the potential to offer fast and programmable controls compared to synchronous generators. With this flexibility there has been…
We consider the problem of zeroing an error output of a nonlinear discrete-time system in the presence of constant exogenous disturbances, subject to hard convex constraints on the input signal. The design specification is formulated as a…
We consider a networked control system where a linear time-invariant (LTI) plant, subject to a stochastic disturbance, is controlled over a communication channel with colored noise and a signal-to-noise ratio (SNR) constraint. The…