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This paper presents a scheme to design a tracking controller for a class of uncertain nonlinear systems using a robust feedback linearization approach. The scheme is composed of two steps. In the first step, a linearized uncertainty model…
In this article, we present data-driven feedback linearization for nonlinear systems with periodic orbits in the zero-dynamics. This scenario is challenging for data-driven control design because the higher order terms of the internal…
Symmetries of nonlinear control systems in state representation are considered. To this end, a geometric approach to ordinary differential equations is advocated. Invariant feedback laws for systems with Lie symmetries, i.e. feedback laws…
Mechanical systems are most often described by a set of continuous-time, nonlinear, second-order differential equations (SODEs) of a particular structure governed by the covariant derivative. The digital implementation of controllers for…
Several authors have reported that the echo state network reproduces bifurcation diagrams of some nonlinear differential equations using the data for a few control parameters. We demonstrate that a simpler feedforward neural network can…
This paper presents an indirect data-driven output feedback controller synthesis for nonlinear systems, leveraging Structured State-space Models (SSMs) as surrogate models. SSMs have emerged as a compelling alternative in modelling…
The present paper studies a feedback regulation problem, which may be interpreted as an adaptive control problem, but has not yet been studied in the control literature. The problem, which arises in at least two different biological…
In this paper, we propose a constructive algorithm to dynamically linearize two-input control systems via successive one-fold prolongations of a control that has to be suitably chosen at each step of the algorithm. Linearization via…
We investigate a driven, one-dimensional system of colloidal particles in a periodically currogated narrow channel subject to a time-delayed feedback control. Our goal is to identify conditions under which the control induces oscillatory,…
We present an application of equation-free computation to the coarse-grained feedback linearization problem of nonlinear systems described by microscopic/stochastic simulators. Feedback linearization with pole placement requires the…
This paper studies closed-loop chance constrained control problems with disturbance feedback (equivalently state feedback) where state and input vectors must remain in a prescribed polytopic safe region with a predefined confidence level.…
The implementation of a combination of continuous weak measurement and classical feedback provides a powerful tool for controlling the evolution of quantum systems. In this work, we investigate the potential of this approach from three…
We review some properties of dynamical systems with slowly varying parameters, when a parameter is moved through a bifurcation point of the static system. Bifurcations with a single zero eigenvalue may create hysteresis cycles, whose area…
We establish a separation principle for the output feedback stabilisation of state-affine systems that are observable at the stabilization target. Relying on control templates (recently introduced in [4]), that allow to approximate a…
We present a black-box method to numerically investigate the linear stability of arbitrary multi-physics problems. While the user just has to enter the system's residual in weak formulation, i.e. by a finite element method, all required…
In this paper, we present a state-feedback controller design method for bilinear systems. To this end, we write the bilinear system as a linear fractional representation by interpreting the state in the bilinearity as a structured…
This paper is concerned with the design of a linear control law for linear systems with stationary additive disturbances. The objective is to find a state feedback gain that minimizes a quadratic stage cost function, while observing chance…
Traditional percolation theory assumes static microscopic rules, limiting its ability to describe real-world complex systems where macroscopic order actively regulates local interactions. Here, we introduce feedback percolation, an unified…
Testing is essential for verifying and validating control designs, especially in safety-critical applications. In particular, the control system governing an automated driving vehicle must be proven reliable enough for its acceptance on the…
This paper is concerned with the analysis of a class of impacting systems of relevance in applications: cam-follower systems. We show that these systems, which can be modelled as discontinuously forced impact oscillators, can exhibit…