Related papers: A method for computing quadratic Brunovsky forms
This paper considers the linear-quadratic dual control problem where the system parameters need to be identified and the control objective needs to be optimized in the meantime. Contrary to existing works on data-driven linear-quadratic…
We develop the framework for a non-intrusive, quadrature-based method for approximate balanced truncation (QuadBT) of linear systems with quadratic outputs, thus extending the applicability of QuadBT, which was originally designed for…
In this thesis, we provide new insights into the theory of cascade feedback linearization of control systems. In particular, we present a new explicit class of cascade feedback linearizable control systems, as well as a new obstruction to…
An input-output model of a two-level quantum system in the Heisenberg picture is of bilinear form with constant system matrices, which allows the introduction of the concepts of controllability and observability in analogy with those of…
Dynamic feedback linearization-based methods allow us to design control algorithms for a fairly large class of nonlinear systems in continuous time. However, this feature does not extend to their sampled counterparts, i.e., for a given…
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…
Despite its nonconvexity, policy optimization for the Linear Quadratic Regulator (LQR) admits a favorable structural property known as gradient dominance, which facilitates linear convergence of policy gradient methods to the globally…
This paper examines a broadly applicable triangular normal form for x-flat control-affine systems with two inputs. First, we show that this triangular form encompasses a wide range of established normal forms. Next, we prove that any x-flat…
Modern control systems must operate in increasingly complex environments subject to safety constraints and input limits, and are often implemented in a hierarchical fashion with different controllers running at multiple time scales. Yet…
In this thesis we study continuously observed open quantum systems from the point of view of quantum filtering theory. The conditioned state of the open system obeys a non-commutative or quantum analogue of the Kushner-Stratonovich equation…
The paper deals with local robust feedback synthesis for systems with multidimensional control and unknown bounded perturbations. Using V.~I.~Korobov's controllability function method, we construct a bounded control which steers an…
It is well known that for flat systems the tracking control problem can be solved by utilizing a linearizing quasi-static feedback of generalized states. If measurements (or estimates) of a so-called generalized Brunovsk\'y state are…
This paper addresses problems on the structural design of control systems taking explicitly into consideration the possible application to large-scale systems. We provide an efficient and unified framework to solve the following major…
Quantum entanglement plays a fundamental role in quantum computation and quantum communication. Feedback control has been widely used in stochastic quantum systems to generate given entangled states since it has good robustness, where the…
We present a computational method for open-loop minimum-norm control synthesis for fixed-endpoint transfer of bilinear ensemble systems that are indexed by two continuously varying parameters. We suppose that one ensemble parameter scales…
With the goal of moving towards implementation of increasingly dynamic behaviors on underactuated systems, this paper presents an optimization-based approach for solving full-body dynamics based controllers on underactuated bipedal robots.…
Standard model-based control design deteriorates when the system dynamics change during operation. To overcome this challenge, online and adaptive methods have been proposed in the literature. In this work, we consider the class of…
We develop an indirect-adaptive model predictive control algorithm for uncertain linear systems subject to constraints. The system is modeled as a polytopic linear parameter varying system where the convex combination vector is constant but…
This work considers two-qubit open quantum systems driven by coherent and incoherent controls. Incoherent control induces time-dependent decoherence rates via time-dependent spectral density of the environment which is used as a resource…
Robust global stabilization of nonlinear systems by observer-based feedback controllers is a challenging task. This article investigates the problem of designing observer-based stabilizing controllers for incrementally quadratic nonlinear…