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In this paper, we present Lyapunov-based robust and adaptive controllers for the finite time stabilization of a perturbed chain of integrators with bounded uncertainties. The proposed controllers can be designed for integrator chains of any…
The paper presents new sufficient conditions for the property of strong bi-metric regularity of the optimality map associated with an optimal control problem which is affine with respect to the control variable ({\em affine problem}). The…
The relaxation systems are an important subclass of the passive systems that arise naturally in applications. We exploit the fact that they have highly structured state-space realisations to derive analytical solutions to some simple…
We introduce system norms which assess transient behavior of stable Linear Time-Invariant (LTI) systems. This allows us to address undesired responses to initial conditions, finite resource consumption signals, or persistent perturbations.…
This paper is concerned with the design of optimal control for finite-dimensional control-affine nonlinear dynamical systems. We introduce an optimal control problem that specifically optimizes nonlinear observability in addition to…
This work primarily focuses on an operator inference methodology aimed at constructing low-dimensional dynamical models based on a priori hypotheses about their structure, often informed by established physics or expert insights. Stability…
Relaxed conditions are given for stability of a feedback system consisting of an exponentially stable multi-input multi-output nonlinear plant and an integral controller. Roughly speaking, it is shown that if the composition of the plant…
This paper investigates the stability properties and performance of super-twisting sliding-mode control loops subject to periodic perturbations. Although there exist conditions on the control gains that guarantee finite-time stability of…
We design observer-based controllers to stabilise abstract linear boundary control systems on Hilbert spaces. Our main results introduce conditions for exponential, strong, and polynomial stability, and establish external well-posedness of…
Solving optimal control problems to determine a stabilizing controller involves a significant computational effort. Time-varying optimal control provides a remedy by designing a tracking system, given as an ordinary differential equation,…
Adaptive controllers are designed to synchronize two different chaotic systems with uncertainties, including unknown parameters, internal and external perturbations. Lyapunov stability theory is applied to prove that under some conditions…
Many robotic systems are underactuated, meaning not all degrees of freedom can be directly controlled due to lack of actuators, input constraints, or state-dependent actuation. This property, compounded by modeling uncertainties and…
In this paper, we consider the problem of set-point tracking for a discrete-time plant with unknown plant parameters belonging to a convex and compact uncertainty set. We carry out parameter estimation for an associated auxiliary plant, and…
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…
In this work, we propose a methodology for the expression of necessary and sufficient Lyapunov-like conditions for the existence of stabilizing feedback laws. The methodology is an extension of the well-known Control Lyapunov Function (CLF)…
This work is devoted to the construction of explicit feedback control laws for the robust, global, exponential stabilization of general, uncertain, discrete-time, acyclic traffic networks. We consider discrete-time, uncertain network models…
We propose an extension of the theory of control sets to the case of inputs satisfying a dwell-time constraint. Although the class of such inputs is not closed under concatenation, we propose a suitably modified definition of control sets…
We consider bounded extremum seeking controls for time-varying linear systems with uncertain coefficient matrices and measurement uncertainty. Using a new change of variables, Lyapunov functions, and a comparison principle, we provide…
We present necessary and sufficient optimality conditions for finite time optimal control problems for a class of hybrid systems described by linear complementarity models. Although these optimal control problems are difficult in general…
This paper studies the feedback stabilization of abstract Cauchy problems with unbounded output operators by finite-dimensional controllers. Both necessary conditions and sufficient conditions for feedback stabilizability are presented. The…