Related papers: Dynamic Output-Feedback Controller Synthesis for D…
The paper presents a novel approach to synthesize robust controllers for nonlinear systems along perturbed trajectories. The approach linearizes the system with respect to a reference trajectory. In contrast to existing methods rooted in…
Control laws for continuous-time dynamical systems are most often implemented via digital controllers using a sample-and-hold technique. Numerical discretization of the continuous system is an integral part of subsequent analysis. Feedback…
In this article, we detail the design of an output feedback stabilizing control law for an underactuated network of N subsystems of n + m heterodirectional linear first-order hyperbolic Partial Differential Equations interconnected through…
In this paper, we study feedback dynamical systems with memoryless controllers under imperfect information. We develop an algorithm that searches for "adversarial scenarios", which can be thought of as the strategy for the adversary…
We propose data-driven decentralized control algorithms for stabilizing interconnected systems. We first derive a data-driven condition to synthesize a local controller that ensures the dissipativity of the local subsystems. Then, we…
Controllers for dynamical systems that operate in safety-critical settings must account for stochastic disturbances. Such disturbances are often modeled as process noise in a dynamical system, and common assumptions are that the underlying…
We consider H2 output feedback controller synthesis with pre-specified constraints on spatial communication distance (locality) for spatially-invariant systems using two factored controller frameworks: the system-level parameterization and…
This paper proposes a data-driven framework to solve time-varying optimization problems associated with unknown linear dynamical systems. Making online control decisions to regulate a dynamical system to the solution of an optimization…
We consider the task of motion control for non-prehensile manipulation using parallel kinematics mechatronic setup, in particular, stabilization of a ball on a plate under unmeasured external harmonic disturbances. System parameters are…
In this paper, we investigate safety-critical control problem of discrete-time stochastic systems with incomplete information, where safety constraints must be enforced using state estimates obtained from noisy measurements. We develop an…
In this paper, we investigate the estimator-based output feedback control problem of multi-delay systems. This work is an extension of recently developed operator-value LMI framework for infinite-dimensional time-delay systems. Based on the…
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…
In this paper, we considered a design method of non-linear state feedback controller for input-affine non-linear system taking data losses into account. When data is lost in control system, control input is fixed to constant value or to the…
This paper presents an automatic formal controller synthesis method for nonlinear sampled-data systems with safety and reachability specifications. Fundamentally, the presented method is not restricted to polynomial systems and controllers.…
This paper presents a novel control structure and control synthesis method for regulating the output voltage/frequency and power injection of DC-AC inverters. The traditional droop method offers attractive solution to achieve compromise…
This work studies data-driven switched controller design for discrete-time switched linear systems. Instead of having access to the full system dynamics, an initialization phase is performed, during which noiseless measurements of the state…
In this paper, we address the problem of data-driven stabilization of continuous-time multi-input multi-output (MIMO) linear time-invariant systems using the input-output data collected from an experiment. Building on recent results for…
Modern control is implemented with digital microcontrollers, embedded within a dynamical plant that represents physical components. We present a new algorithm based on counter-example guided inductive synthesis that automates the design of…
We present a controller synthesis algorithm for reach-avoid problems for piecewise linear discrete-time systems. Our algorithm relies on SMT solvers and in this paper we focus on piecewise constant control strategies. Our algorithm…
In this paper, the design of a static feedback gain for a linear system subject to an input delay is studied. This synthesis is based on a stability analysis conducted using Lyapunov-Krasovskii theorem and Bessel-Legendre inequalities…