Related papers: Matching, linear systems, and the ball and beam
In this work, we will investigate the question of optimal control for bilinear systems with constrained endpoint. The optimal control will be characterized through a set of unconstrained minimization problems that approximate the former.…
State and input constraints are ubiquitous in all engineering systems. In this article, we derive adaptive controllers for uncertain linear systems under pre-specified state and input constraints. Several modifications of the model…
We present a new direct adaptive control approach for nonlinear systems with unmatched and matched uncertainties. The method relies on adjusting the adaptation gains of individual unmatched parameters whose adaptation transients would…
Underactuated systems pose the challenge of being able to control a plant whose degrees of freedom are not necessarily directly linked to an actuator or where such a relationship is not straightforward. Rotary inverted pendulum is an…
Collocated adaptive control of underactuated systems is still a main concern for the control community, all the more so because the collocated dynamics is no longer linear with respect to the constant base parameters. This work extends and…
Boundary feedback control design is studied for 1D hyperbolic systems with an in-domain disturbance and a boundary feedback controller under the effect of actuator saturation. Nonlinear semigroup theory is used to prove well-posedness of…
The paper investigates nonlinear control laws obtained from linear one by two types of substitutions using odd functions. The first substitution consists in passing each component of the state vector through a nonlinear function, the second…
The paper is devoted to a design of a common bounded feedback control steering a system of an arbitrary number of linear oscillators to the equilibrium. At high energies, the control is based on the asymptotic theory of reachable sets of…
Controlled Lagrangian and matching techniques are developed for the stabilization of relative equilibria and equilibria of discrete mechanical systems with symmetry as well as broken symmetry. Interesting new phenomena arise in the…
The semilinear beam equation with impulses, memory and delay is considered. We obtain the approximate controllability. This is done by employing a technique that avoids fixed point theorems and pulling back the control solution to a fixed…
Model Predictive Control (MPC) is often tuned by trial and error. When a baseline linear controller exists that is already well tuned in the absence of constraints and MPC is introduced to enforce them, one would like to avoid altering the…
This paper considers the problem of regulating a dynamical system to equilibria that are defined as solutions of an input- and state-constrained optimization problem. To solve this regulation task, we design a state feedback controller…
This article treats three problems of sparse and optimal multiplexing a finite ensemble of linear control systems. Given an ensemble of linear control systems, multiplexing of the controllers consists of an algorithm that selects, at each…
We investigate the task of controlling ensembles of initial and terminal state vectors of parameter-dependent linear systems by applying parameter-independent open loop controls. Necessary, as well as sufficient, conditions for ensemble…
Significant improvements have been achieved in motion control systems with the availability of high speed power switches and microcomputers on the market. Even though motor drivers are able to provide high torque control bandwidth under…
After a review of linear imperfections and their causes, we discuss how to model them, the diagnostic equipment needed to monitor them, and the correction algorithms to fix the problem they cause. We first address linear systems - beam…
This paper addresses the problem of steering an initial probability distribution to a target probability distribution through a deterministic or stochastic linear control system. Our proposed approach is inspired by the flow matching…
The dyadic adaptive control architecture evolved as a solution to the problem of designing control laws for nonlinear systems with unmatched nonlinearities, disturbances and uncertainties. A salient feature of this framework is its ability…
Synchronization of coupled continuous-time linear systems is studied in a general setting. For identical neutrally-stable linear systems that are detectable from their outputs, it is shown that a linear output feedback law exists under…
Infinite-dimensional linear systems with unbounded input and output operators are considered. For the purpose of finite-dimensional observer-based state feedback, an observer approximation scheme will be developed which can be directly…