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Recent development of contraction theory based analysis of singularly perturbed system has opened the door for inspecting differential behavior of multi time-scale systems. In this paper a contraction theory based framework is proposed for…
In this paper we consider distributed adaptive stabilization for uncertain multivariable linear systems with a time-varying diagonal matrix gain. We show that uncertain multivariable linear systems are stabilizable by diagonal matrix high…
We establish a separation principle for the output feedback stabilisation of state-affine systems that are observable at the stabilization target. Relying on control templates (recently introduced in [4]), that allow to approximate a…
The purposes of this paper are to classify lower triangular forms and to determine under what conditions a nonlinear system is equivalent to a specific type of lower triangular forms. According to the least multi-indices and the greatest…
In this paper, the notion of robust strict QSR-dissipativity is applied to solve the static output feedback control problem for a class of continuous-time nonlinear rational systems subject to input saturation and bounded parametric…
We consider the problem of stabilization of a linear system, under state and control constraints, and subject to bounded disturbances and unknown parameters in the state matrix. First, using a simple least square solution and available…
Consider the saturated complex double integrator, i.e., the linear control system $\dot x=Ax+B\sigma(u)$, where $x\in\R^4$, $u\in\R$, $B\in\R^4$, the $4\times 4$ matrix $A$ is not diagolizable and admits a non zero purely imaginary…
This paper introduces a novel control framework to address the satisfaction of multiple time-varying output constraints in uncertain high-order MIMO nonlinear control systems. Unlike existing methods, which often assume that the constraints…
This paper studies the emulation-based stabilization of nonlinear networked control systems with two time scales. We address the challenge of using a single communication channel for transmitting both fast and slow variables between the…
Control systems of interest are often invariant under Lie groups of transformations. For such control systems, a geometric framework based on Lie symmetry is formulated, and from this a sufficient condition for dynamic feedback…
A single dynamical system with time-delayed feedback can emulate networks. This property of delay systems made them extremely useful tools for Machine Learning applications. Here we describe several possible setups, which allow emulating…
We show that the Euler-discretization of the nonlinear continuous-time model of a single mast stacker crane is flat. The construction of the flat output is based on a transformation of a subsystem into the linear time-variant discrete-time…
Synchronization control in arrays of identical output-coupled continuous-time linear systems is studied. Sufficiency of new conditions for the existence of a synchronizing feedback law are analyzed. It is shown that for neutrally stable…
Using the properties of differential flatness, a controllable system, such as a quadcoper model, may be transformed into a linear equivalent system via a coordinate change and an input mapping. This is a straightforward advantage for the…
Many recent works on stabilization of nonlinear systems target the case of locally stabilizing an unstable steady state solutions against small perturbation. In this work we explicitly address the goal of driving a system into a…
Stabilization of linear systems with unknown dynamics is a canonical problem in adaptive control. Since the lack of knowledge of system parameters can cause it to become destabilized, an adaptive stabilization procedure is needed prior to…
A high-gain observer is used for a class of feedback linearisable nonlinear systems to synthesize safety-preserving controllers over the observer output. A bound on the distance between trajectories under state and output feedback is…
A static non-linear homogeneous feedback for a fixed-time stabilization of a linear time-invariant (LTI) system is designed in such a way that the settling time is assigned exactly to a prescribed constant for all nonzero initial…
This paper provides a state feedback stabilization approach for nonlinear systems of relative degree less than or equal to two by rendering them nonlinear negative imaginary (NI) systems. Conditions are provided under which a nonlinear…
We study the stabilization of networked control systems with asynchronous sensors and controllers. Offsets between the sensor and controller clocks are unknown and modeled as parametric uncertainty. First we consider multi-input linear…