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This study focuses on the problem of optimal mismatched disturbance rejection control for uncontrollable linear discrete-time systems. In contrast to previous studies, by introducing a quadratic performance index such that the regulated…
High-voltage direct-current (HVDC) systems for constant or intermittent power delivery have recently been developed further to support grid frequency regulation (GFR). This paper proposes a new control strategy for a line-commutated…
A general controller scheme for stabilizing a non-linear system, which has its origin from the linear system theory, is proposed in this paper. The proposed controller can stabilize the non-linear system subjected to initial conditions. An…
This paper presents a robust position controller for electric power assisted steering and steer-by-wire force-feedback systems. A position controller is required in steering systems for haptic feedback control, advanced driver assistance…
We propose a robust nonlinear model predictive control design with generalized zone tracking (ZMPC) in this work. The proposed ZMPC has guaranteed convergence into the target zone in the presence of bounded disturbance. The proposed…
This paper proposes a composite learning backstepping control (CLBC) strategy based on modular backstepping and high-order tuners to achieve closed-loop exponential stability without high-gain feedback and PE. A novel composite learning…
The complexity of modern control systems necessitates architectures that achieve high performance while ensuring robust stability, particularly for nonlinear systems. In this work, we tackle the challenge of designing output-feedback…
This study presents the modeling, control design, and performance analysis of a DC-DC buck converter using state-space averaging techniques. Buck converters are essential in modern power electronics for regulating DC voltages in renewable…
The wide deployment of renewable generation and the gradual decrease in the overall system inertia make modern power grids more vulnerable to transient instabilities and unacceptable frequency fluctuations. Time-domain simulation-based…
We study the stability of coupled impedance passive regular linear systems under power-preserving interconnections. We present new conditions for strong, exponential, and non-uniform stability of the closed-loop system. We apply the…
Impedance control is a well-established technique to control interaction forces in robotics. However, real implementations of impedance control with an inner loop may suffer from several limitations. Although common practice in designing…
In this paper, the notion of contraction is used to solve the trajectory-tracking problem for a class of mechanical systems. Additionally, we propose a dynamic extension to remove velocity measurements from the controller while rejecting…
Scalability and modularity are key features for future power converters, such that these systems can be easily employed in many applications with different electrical specifications. In this thesis, the potential of a new bidirectional…
The control of constrained systems using model predictive control (MPC) becomes more challenging when full state information is not available and when the nominal system model and measurements are corrupted by noise. Since these conditions…
This paper analyzes the robustness and stability of a disturbance observer (DOB) and a reaction torque observer (RTOB) based robust motion control systems. Conventionally, a DOB is analyzed by using an ideal velocity measurement that is…
In this work, the problem of switching control design for DC-DC boost converter is considered, in the case of operation under uncertain equilibrium condition arising due to perturbations in the input and load parameters. Assuming that these…
The interconnected power system presents a great challenge to both system analyzers and control designers. The load-frequency control (LFC) problem has gained much importance because of the complexity and size of modern interconnected power…
This paper proposes a novel control design for voltage tracking of an islanded AC microgrid in the presence of {nonlinear} loads and parametric uncertainties at the primary level of control. The proposed method is based on the Tube-Based…
This paper proposes a safety controller for control-affine nonlinear systems with unmodelled dynamics and disturbances to improve closed-loop robustness. Uncertainty estimation-based control barrier functions (CBFs) are utilized to ensure…
The recent advancement in vehicular networking technology provides novel solutions for designing intelligent and sustainable vehicle motion controllers. This work addresses a car-following task, where the feedback linearisation method is…