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Non-overshooting stabilization is a form of safe control where the setpoint chosen by the user is at the boundary of the safe set. Exponential non-overshooting stabilization, including suitable extensions to systems with deterministic and…
A bi-Hamiltonian formulation is proposed for triangular systems resulted by perturbations around solutions, from which infinitely many symmetries and conserved functionals of triangular systems can be explicitly constructed, provided that…
This paper deals with the output feedback stabilization problem of nonlinear multi-input multi-output systems having an uncertain input gain matrix. It is assumed that the system has a well-defined vector relative degree and that the zero…
We present an improvement of a recent funnel controller design for uncertain nonlinear multi-input, multi-output systems modeled by higher order functional differential equations in the presence of input constraints. The objective is to…
In a triangulated category T with a pair of triangulated subcategories X and Y, one may consider the subcategory of extensions X*Y. We give conditions for X*Y to be triangulated and use them to provide tools for constructing stable…
We derive sufficient conditions for the solvability of the state estimation problem for a class of nonlinear control time-varying systems which includes those, whose dynamics have triangular structure. The state estimation is exhibited by…
We give a characterisation of those local not necessary commutative rings, for which the category of projective modules admits a triangulation with the identity as translation functor. By "admits a triangulation" we mean that the category…
We construct two error feedback controllers for robust output tracking and disturbance rejection of a regular linear system with nonsmooth reference and disturbance signals. We show that for sufficiently smooth signals the output converges…
We introduce the concept of a control contraction metric, extending contraction analysis to constructive nonlinear control design. We derive sufficient conditions for exponential stabilizability of all trajectories of a nonlinear control…
This paper presents a low-complexity, model-free, output-feedback controller for a class of unknown time-varying nonlinear systems with unknown input constraints. The controller achieves the preset control accuracy when the actuator is not…
We propose easily verifiable necessary and sufficient conditions for the linearizability of two-input systems by an endogenous dynamic feedback with a dimension of at most two.
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…
Prediction-based transformation is applied to control-affine systems with distributed input delays. Transformed system state is calculated as a prediction of the system's future response to the past input with future input set to zero.…
This paper is devoted to the study of the flatness property of linear time-invariant fractional systems. In the framework of polynomial matrices of the fractional derivative operator, we give a characterization of fractionally flat outputs…
This note studies the robust output feedback stabilization problem of multi-input multi-output invertible nonlinear systems with output-dependent multipliers. An "ideal" state feedback is first designed under certain mild assumptions. Then,…
Formation control deals with the design of decentralized control laws that stabilize mobile, autonomous agents at prescribed distances from each other. We call any configuration of the agents a target configuration if it satisfies the…
In this paper, we examine the exact linearization of configuration flat Lagrangian control systems in generalized state representation with p degrees of freedom and p-1 control inputs by quasi-static feedback of its generalized state. We…
Dynamical systems with quadratic outputs have recently attracted significant attention. In this paper, we consider bilinear dynamical systems, a special class of weakly nonlinear systems, with a quadratic output. We develop various…
This paper studies static output feedback stabilization of continuous-time (incrementally) passive nonlinear systems where the control actions can only be chosen from a discrete (and possibly finite) set of points. For this purpose, we are…
This paper outlines a general formal framework for reasoning systems, intended to support future analysis of inference architectures across domains. We model reasoning systems as structured tuples comprising phenomena, explanation space,…