Related papers: Adaptation Implies Internal Model
This note provides a theorem showing, under suitable technical assumptions, that if a system S adapts to a class of external signals U, in the sense of egulation against disturbances or tracking signals in U, then S must ecessarily contain…
Robustness is a basic property of any control system. In the context of linear output regulation, it was proved that embedding an internal model of the exogenous signals is necessary and sufficient to achieve tracking of the desired…
The internal model principle is a fundamental result stating a necessary and sufficient condition for a stabilizing controller to be robustly regulating. Its classical formulation is given in terms of coprime factorizations and the largest…
A model of an organism as an autonomous intelligent system has been proposed. This model was used to analyze learning of an organism in various environmental conditions. Processes of learning were divided into two types: strong and weak…
The goal of this paper is to understand if the property of adaptation, which is a typical property of many biochemical systems, can be achieved only by biological systems that actively consume energy or if it can be achieved also by passive…
This work introduces a general multi-level model for self-adaptive systems. A self-adaptive system is seen as composed by two levels: the lower level describing the actual behaviour of the system and the upper level accounting for the…
Robust adaptive control of scalar plants in the presence of unmodeled dynamics is established in this paper. It is shown that implementation of a projection algorithm with standard adaptive control of a scalar plant ensures global…
This paper shows how the theory of adaptive observers can be effectively used in the design internal models for nonlinear output regulation. The main result obtained in this way is a new method for the synthesis of adaptive internal models…
The internal model principle states that all robustly regulating controllers must contain a suitably reduplicated internal model of the signal to be regulated. Using frequency domain methods, we show that the number of the copies may be…
When designing a robot's internal system, one often makes assumptions about the structure of the intended environment of the robot. One may even assign meaning to various internal components of the robot in terms of expected environmental…
The internal model principle, originally proposed in the theory of control of linear systems, nowadays represents a more general class of results in control theory and cybernetics. The central claim of these results is that, under suitable…
A novel method for control of dynamical systems, proposed in the paper, ensures an output signal belonging to the given set at any time. The method is based on a special change of coordinates such that the initial problem with given…
Minimal input/output selection is investigated in this paper for each subsystem of a networked system. Some novel sufficient conditions are derived respectively for the controllability and observability of a networked system, as well as…
This paper shows how the theory of nonlinear adaptive observers can be effectively used in the design of internal models for nonlinear output regulation. The theory substantially enhances the existing results in the context of {\em…
This paper deals with stability of discrete-time switched linear systems whose all subsystems are unstable and the set of admissible switching signals obeys pre-specified restrictions on switches between the subsystems and dwell times on…
Control systems should enforce a desired property for both expected modeled situations as well as unexpected unmodeled environmental situations. Existing methods focus on designing controllers to enforce the desired property only when the…
This paper studies the robustness of large-scale interconnected systems with respect to external disturbances, focussing on their scalability properties. Specifically, a notion of scalability is introduced that asks for these robustness…
Statistical properties of environments experienced by biological signaling systems in the real world change, which necessitate adaptive responses to achieve high fidelity information transmission. One form of such adaptive response is gain…
We consider interconnected nonlinear systems with external inputs, where each of the subsystems is assumed to be input-to-state stable (ISS). Sufficient conditions of small gain type are provided guaranteeing that the interconnection is ISS…
In complex systems, we often observe complex global behavior emerge from a collection of agents interacting with each other in their environment, with each individual agent acting only on locally available information, without knowing the…