Related papers: Matrix-Valued Passivity Indices: Foundations, Prop…
This paper considers the problem of linear time-invariant (LTI) system identification using input/output data. Recent work has provided non-asymptotic results on partially observed LTI system identification using a single trajectory but is…
Dissipativity is an essential concept of systems theory. The paper provides an extension of dissipativity, named differential dissipativity, by lifting storage functions and supply rates to the tangent bundle. Differential dissipativity is…
We study the stability of a vector field associated to a nearly-integrable Hamiltonian dynamical system to which a dissipation is added. Such a system is governed by two parameters, named the perturbing and dissipative parameters, and it…
Torque-controlled actuators are critical components in mechatronic systems that closely interact with their environment, such as legged robots, collaborative manipulators, and exoskeletons. The performance and stability of these actuators…
This note addresses identification of the $A$-matrix in continuous time linear dynamical systems on state-space form. If this matrix is partially known or known to have a sparse structure, such knowledge can be used to simplify the…
This paper deals with the problem of covariance stabilization for a class of linear stochastic discrete-time systems in the Stochastic Model Predictive Control (SMPC) framework. The considered systems are affected by independent and…
Multi-objective evaluation is a necessary aspect when managing complex systems, as the intrinsic complexity of a system is generally closely linked to the potential number of optimization objectives. However, an evaluation makes no sense…
We present a novel machine learning architecture that uses the exponential of a single input-dependent matrix as its only nonlinearity. The mathematical simplicity of this architecture allows a detailed analysis of its behaviour, providing…
This paper presents a novel passivity-based semi-autonomous attitude control framework, with a particular focus on attitude kinematics defined on the special orthogonal group $SO(3)$. While human-robot interaction facilitates the successful…
This paper focuses on using the first curvature $\kappa(t)$ of trajectory to describe the stability of linear time-invariant system. We extend the results for two and three-dimensional systems [Y. Wang, H. Sun, Y. Song et al.,…
A class of distributed systems with a cyclic interconnection structure is considered. These systems arise in several biochemical applications and they can undergo diffusion driven instability which leads to a formation of spatially…
Time-series imputation benchmarks employ uniform random masking and shape-agnostic metrics (MSE, RMSE), implicitly weighting evaluation by regime prevalence. In systems with a dominant attractor -- homeostatic physiology, nominal industrial…
The estimation of static parameters in dynamical systems and control theory has been extensively studied, with significant progress made in estimating varying parameters in specific system types. Suppose, in the general case, we have data…
Maximal monotonicity is explored as a generalization of the linear theory of passivity, aiming at an algorithmic input/output analysis of physical models. The theory is developed for maximal monotone one-port circuits, formed by the series…
A passive radar system uses one or more so-called Illuminators of Opportunity (IO) to detect and localize targets. In such systems, a reference channel is often used at each receiving node to capture the transmitted IO signal, while targets…
Any representation of data involves arbitrary investigator choices. Because those choices are external to the data-generating process, each choice leads to an exact symmetry, corresponding to the group of transformations that takes one…
We consider linear time invariant systems with exogenous stochastic disturbances, and in feedback with structured stochastic uncertainties. This setting encompasses linear systems with both additive and multiplicative noise. Our concern is…
Due to their relevance in controller design, we consider the problem of determining the $\mathcal{L}^2$-gain, passivity properties and conic relations of an input-output system. While, in practice, the input-output relation is often…
A density matrix describes the statistical state of a quantum system. It is a powerful formalism to represent both the quantum and classical uncertainty of quantum systems and to express different statistical operations such as measurement,…
Multiscale mixing efficiencies for passive scalar advection are defined in terms of the suppression of variance weighted at various length scales. We consider scalars maintained by temporally steady but spatially inhomogeneous sources,…