Related papers: On the Dynamics of Control
This paper presents the design and robustness analysis of fractional and integer order PID controllers for the control of a non-linear industrial process in the presence of parametric uncertainness and external disturbances. The nonlinear…
Synthetic biology is a recent area of biological engineering, whose aim is to provide cells with novel functionalities. A number of important results regarding the development of control circuits in synthetic biology have been achieved…
This paper presents, using dynamical system theory, a framework for investigating the turnpike property in nonlinear optimal control. First, it is shown that a turnpike-like property appears in general dynamical systems with hyperbolic…
The dynamic mode decomposition (DMD) is a data-driven method used for identifying the dynamics of complex nonlinear systems. It extracts important characteristics of the underlying dynamics using measured time-domain data produced either by…
In this paper, we study connections between the classical model-based approach to nonlinear system theory, where systems are represented by equations, and the nonlinear behavioral approach, where systems are defined as sets of trajectories.…
This paper presents causal block-diagram models to represent the equations of motion of multi-body systems in a very compact and simple closed form. Both the forward dynamics (from the forces and torques imposed at the various…
Biological systems perform an astonishing array of dynamical processes -- including development and repair, regulation, behavior and motor control, sensing and signaling, and adaptation, among others. Powered by the transduction of stored…
This paper addresses the problem of asymptotic tracking for high-order control-affine MIMO nonlinear systems with unknown dynamic terms subject to input and transient state constraints. We introduce Barrier Integral Control (BRIC), a novel…
This paper addresses the challenges of distributed formation control in multiple mobile robots, introducing a novel approach that enhances real-world practicability. We first introduce a distributed estimator using a variable structure and…
We consider learning nonholonomic dynamical systems while discovering the constraints, and describe in detail the case of the rolling disk. A nonholonomic system is a system subject to nonholonomic constraints. Unlike holonomic constraints,…
The paper describes the application of some numerical techniques to analyze and to characterize the observed dynamical behaviour of fluidized bed systems. The preliminary results showed clearly that the dynamics of the considered process…
Control theory often takes the mathematical model of the to-be-control-led system for granted. In contrast, port-Hamiltonian systems theory bridges the gap between modelling and control for physical systems. It provides a unified framework…
Sufficient and necessary conditions are established for controllability of affine control systems where the control is constrained to a set whose convex hull contains the origin but is not necessarily, in contrast with previously known…
Consider a dynamical system $u \mapsto x, \dot{x} = f_{nl}(x,u)$ where $f_{nl}$ is a nonlinear (convex or nonconvex) function, or a combination of nonlinear functions that can eventually switch. We present, in this preliminary work, a…
This paper presents an algorithmic method to study structural properties of nonlinear control systems in dependence of parameters. The result consists of a description of parameter configurations which cause different control-theoretic…
We consider covariance control problems for nonlinear stochastic systems. Our objective is to find an optimal control strategy to steer the state from an initial distribution to a terminal one with specified mean and covariance. This…
We consider the basic features of complex dynamic and control systems, including systems having hierarchical structure. Special attention is paid to the problems of design and synthesis of complex systems and control models, and to the…
The increasing integration of renewable energy sources has introduced complex dynamic behavior in power systems that challenge the adequacy of traditional continuous-time modeling approaches. These developments call for modeling frameworks…
The control of nonlinear dynamical systems remains a major challenge for autonomous agents. Current trends in reinforcement learning (RL) focus on complex representations of dynamics and policies, which have yielded impressive results in…
Stylized models of the neurodynamics that underpin sensory motor control in animals are proposed and studied. The voluntary motions of animals are typically initiated by high level intentions created in the primary cortex through a…