相关论文: Parameterization of Retrofit Controllers

We present a parameterization of the stabilizing controllers over commutative rings. In the classical case, that is, in the case where there exist the right-/left-coprime factorizations of the given plant, the stabilizing controllers can be…

This paper studies structural controllability for a networked dynamic system (NDS), in which each subsystem may have different dynamics, and unknown parameters may exist both in subsystem dynamics and in subsystem interconnections. In…

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…

We have witnessed the emergence of several controller parameterizations and the corresponding synthesis methods, including Youla, system level, input-output, and many other new proposals. Meanwhile, under the same synthesis method, there…

This paper is concerned with application of the classical Youla-Ku\v{c}era parameterization to finding a set of linear coherent quantum controllers that stabilize a linear quantum plant. The plant and controller are assumed to represent…

Designing a static state-feedback controller subject to structural constraint achieving asymptotic stability is a relevant problem with many applications, including network decentralized control, coordinated control, and sparse feedback…

The paper proposes an alternative way to achieve the Internal Model Principle (IMP) in contrast to the standard way, where a model of the signal one wishes to track/reject is directly substituted into the closed-loop. The proposed…

This paper revisits a classical challenge in the design of stabilizing controllers for nonlinear systems with a norm-bounded input constraint. By extending Lin-Sontag's universal formula and introducing a generic (state-dependent) scaling…

This paper deals with the problem of distributed control synthesis. We seek to find structured controllers that are stably realizable over the underlying network. We address the problem using an operator form of discrete-time linear…

Learned inverse problem solvers exhibit remarkable performance in applications like image reconstruction tasks. These data-driven reconstruction methods often follow a two-step scheme. First, one trains the often neural network-based…

We have witnessed the emergence of several controller parameterizations and the corresponding synthesis methods, including Youla, system level, input-output, and many other new proposals. Meanwhile, under the same synthesis method, there…

In this paper we consider a linear system structured into physically coupled subsystems and propose a decentralized control scheme capable to guarantee asymptotic stability and satisfaction of constraints on system inputs and states. The…

We investigate local configuration controllability for mechanical control systems within the affine connection formalism. Extending the work by Lewis for the single-input case, we are able to characterize local configuration controllability…

This paper presents a policy parameterization for learning-based control on nonlinear, partially-observed dynamical systems. The parameterization is based on a nonlinear version of the Youla parameterization and the recently proposed…

Robust control theory has been successfully applied to numerous real-world problems using a small set of devices called {\it controllers}. However, the real systems represented by networks contain unreliable components and modern robust…

Complex mechatronic systems are typically composed of interconnected modules, often developed by independent teams. This development process challenges the verification of system specifications before all modules are integrated. To address…

This work provides a framework for nonlinear model-free control of systems with unknown input-output dynamics, but outputs that can be controlled by the inputs. This framework leads to real-time control of the system such that a feasible…

Many complex engineering systems consist of multiple subsystems that are developed by different teams of engineers. To analyse, simulate and control such complex systems, accurate yet computationally efficient models are required. Modular…

The robust disturbance rejection controller has been the subject of intensive research due to its undeniable importance for automation. Modern control theory tends to use model-based approaches versus model-free approaches, especially when…

Declines in cost and concerns about the environmental impact of traditional generation have boosted the penetration of renewables and non-conventional distributed energy resources into the power grid. The intermittent availability of these…