Related papers: Interconnection and Damping Assignment Passivity-B…
Interconnection and damping assignment passivity-based control scheme has been used to stabilize many physical systems such as underactuated mechanical systems through total energy shaping. In this method, some partial differential…
The key idea behind PID Passivity-based Control (PID-PBC) is to leverage the passivity property of PIDs (for all positive gains) and wrap the PID controller around a passive output to ensure global stability in closed-loop. However, the…
The motivation for this paper is the implementation of nonlinear state feedback control, designed based on the continuous-time plant model, in a sampled control loop under relatively slow sampling. In previous work we have shown that using…
Designing control systems with bounded input is a practical consideration since realizable physical systems are limited by the saturation of actuators. The actuators' saturation degrades the performance of the control system, and in extreme…
We present differentiable predictive control (DPC), a method for learning constrained neural control policies for linear systems with probabilistic performance guarantees. We employ automatic differentiation to obtain direct policy…
This paper considers the backstepping state feedback and observer design for hyperbolic and parabolic PDEs, which are bidirectionally interconnected in a general coupling structure. Both PDE subsystems consist of coupled scalar PDEs with…
Recently, adaptive control systems with relaxed persistent excitation (PE) conditions have been proposed to guarantee true parameter convergence and improve the transient response. However, in some cases, sufficient control performance and…
We propose an approach for the synthesis of robust and optimal feedback controllers for nonlinear PDEs. Our approach considers the approximation of infinite-dimensional control systems by a pseudospectral collocation method, leading to…
The series-paralleling technique of dc-dc converters is utilized in various domains of electrical engineering for improved power conversion. Previous studies have proposed and classified the control schemes for the series-paralleled…
The high energy consumption of buildings presents a critical need for advanced control strategies like Demand Response (DR). Differentiable Predictive Control (DPC) has emerged as a promising method for learning explicit control policies,…
We develop a physics-informed learning framework for energy-shaping control of port-Hamiltonian (pH) systems from trajectory data. The proposed approach co-learns a pH system model and an optimal energy-balancing passivity-based controller…
An information based method for solving stochastic control problems with partial observation has been proposed. First, the information-theoretic lower bounds of the cost function has been analysed. It has been shown, under rather weak…
Imitation learning enables the synthesis of controllers for complex objectives and highly uncertain plant models. However, methods to provide stability guarantees to imitation learned controllers often rely on large amounts of data and/or…
In this paper, we propose a suboptimal and reduced-order Model Predictive Control (MPC) architecture for discrete-time feedback-interconnected systems. The numerical MPC solver: (i) acts suboptimally, performing only a finite number of…
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…
This paper considers the backstepping design of state feedback controllers for coupled linear parabolic partial integro-differential equations (PIDEs) of Volterra-type with distinct diffusion coefficients, spatially-varying parameters and…
We carry-out a detailed analysis of direct voltage control of a Boost converter feeding a simple resistive load. First, we prove that using a classical PI control to stabilize a desired equilibrium leads to a very complicated dynamic…
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…
Large-scale cyber-physical systems require that control policies are distributed, that is, that they only rely on local real-time measurements and communication with neighboring agents. Optimal Distributed Control (ODC) problems are,…
Integrated sensing and communication (ISAC) systems potentially encounter significant performance degradation in densely obstructed urban and non-line-of-sight scenarios, thus limiting their effectiveness in practical deployments. To deal…