Related papers: Matrix-Valued Passivity Indices: Foundations, Prop…
This paper deals with the problem of trajectory tracking of a class of bilinear systems with time--varying measurable disturbance. A set of matrices {A,B_i} has been identified, via a linear matrix inequality, for which it is possible to…
The paper focuses on stiffness matrix computation for manipulators with passive joints, compliant actuators and flexible links. It proposes both explicit analytical expressions and an efficient recursive procedure that are applicable in the…
In this paper, we derive new passive maps akin to incremental passive maps, for a class of nonlinear systems using dynamic feedback and Krasovskii's method. Further using the passive maps we present a control methodology for stabilization…
Scaled relative graphs have been originally introduced in the context of convex optimization and have recently gained attention in the control systems community for the graphical analysis of nonlinear systems. Of particular interest in…
The proportional-integral-derivative (PID) controller and its variants are widely used in control engineering, but they often rely on linearization around equilibrium points and empirical parameter tuning, making them ineffective for…
Differential passivity is a property that allows to check with a pointwise criterion that a system is incrementally passive, a property that is relevant to study interconnected systems in the context of regulation, synchronization, and…
The vector space of all input-output trajectories of a discrete-time linear time-invariant (LTI) system is spanned by time-shifts of a single measured trajectory, given that the respective input signal is persistently exciting. This fact,…
Reciprocity is a fundamental symmetry property observed across many physical domains, including acoustics, elasticity, electromagnetics, and thermodynamics. In systems and control theory, it provides key insights into the internal structure…
A semi-parametric, non-linear regression model in the presence of latent variables is introduced. These latent variables can correspond to unmodeled phenomena or unmeasured agents in a complex networked system. This new formulation allows…
A generalization of the classical secant condition for the stability of cascades of scalar linear systems is provided for passive systems. The key is the introduction of a quantity that combines gain and phase information for each system in…
This paper deals with the robust stability analysis of linear systems, subject to time-varying parameters. The Parameter Dependent Lyapunov Function are considered, assuming that the temporal derivative of the parameters are bounded. Some…
The stability of interconnected linear time-invariant systems using singular values and the small gain theorem has been studied for many decades. The methods of mu-analysis and synthesis has been extensively developed to provide robustness…
In the recent years, passivity theory has gained renewed attention because of its advantages and practicality in modeling of multi-domain systems and constructive control techniques. Unlike Lyapunov theory, passivity theory takes a…
In these lectures notes, we review our recent works addressing various problems of finding the nearest stable system to an unstable one. After the introduction, we provide some preliminary background, namely, defining Port-Hamiltonian…
We propose a control approach for a class of nonlinear mechanical systems to stabilize the system under study while ensuring that the oscillations of the transient response are reduced. The approach is twofold: (i) we apply our technique…
A rigid body model for the dynamics of a marine vessel, used in simulations of offshore pipe-lay operations, gives rise to a set of ordinary differential equations with controls. The system is input-output passive. We propose…
We consider estimation of covariance matrices and their inverses (a.k.a. precision matrices) for high-dimensional stationary and locally stationary time series. In the latter case the covariance matrices evolve smoothly in time, thus…
With the increasing penetration of converter-interfaced distributed generation systems, it would be advantageous to specify local compliance criteria for these devices to ensure the small-signal stability of the interconnected system.…
The increasing penetration of converter-interfaced distributed energy resources has brought out the need to develop decentralized criteria that would ensure the small-signal stability of the inter-connected system. Passivity of the D-Q…
As bulk synchronous generators in the power grid are replaced by distributed generation interfaced through power electronics, inertia is removed from the system, prompting concerns over grid stability. Different metrics are available for…