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This work addresses maximally robust control synthesis under unknown disturbances. We consider a general nonlinear system, subject to a Signal Temporal Logic (STL) specification, and wish to jointly synthesize the maximal possible…

This paper investigates the synthesis of robust controllers from logical specification of regular properties given in an interval temporal logic QDDC. Our specification encompasses both hard robustness and soft robustness. Here, hard…

This note studies the robust output feedback stabilization problem of multi-input multi-output invertible nonlinear systems with output-dependent multipliers. An "ideal" state feedback is first designed under certain mild assumptions. Then,…

Robotic control systems are increasingly relying on distributed feedback controllers to tackle complex sensing and decision problems such as those found in highly articulated human-centered robots. These demands come at the cost of a…

We construct two error feedback controllers for robust output tracking and disturbance rejection of a regular linear system with nonsmooth reference and disturbance signals. We show that for sufficiently smooth signals the output converges…

System level synthesis enables improved robust MPC formulations by allowing for joint optimization of the nominal trajectory and controller. This paper introduces a tailored algorithm for solving the corresponding disturbance feedback…

The control of constrained systems using model predictive control (MPC) becomes more challenging when full state information is not available and when the nominal system model and measurements are corrupted by noise. Since these conditions…

Robust stability and stochastic stability have separately seen intense study in control theory for many decades. In this work we establish relations between these properties for discrete-time systems and employ them for robust control…

This paper presents a methodology for model based robust fault diagnosis and a methodology for input design to obtain optimal diagnosis of faults. The proposed algorithm is suitable for real time implementation. Issues of robustness are…

We consider the problem of designing a feedback controller which robustly regulates an LTI system to an optimal operating point in the presence of unmeasured disturbances. A general design framework based on so-called optimality models was…

Neural control is an exciting mystery which we instinctively master. Yet, researchers have a hard time explaining the motor control trajectories. Physiologically accurate biomechanical simulations can, to some extent, mimic live subjects…

The AC frequency in electrical power systems is conventionally regulated by synchronous machines. The gradual replacement of these machines by asynchronous renewable-based generation, which provides little or no frequency control, increases…

This paper presents a robust control synthesis and analysis framework for nonlinear systems with uncertain initial conditions. First, a deep learning-based lifting approach is proposed to approximate nonlinear dynamical systems with linear…

For microprocessors used in real-time embedded systems, minimizing power consumption is difficult due to the timing constraints. Dynamic voltage scaling (DVS) has been incorporated into modern microprocessors as a promising technique for…

In this work the robustness of a feedback optimization scheme is discussed. Previously known results in literature, on the convergence to local optima of the optimization problem of interest, are extended to the case where the sensitivities…

Approximate simulation, an extension of simulation relations from formal methods to continuous systems, is a powerful tool for hierarchical control of complex systems. Finding an approximate simulation relation between the full "concrete"…

This paper is concerned with the design of optimal control for finite-dimensional control-affine nonlinear dynamical systems. We introduce an optimal control problem that specifically optimizes nonlinear observability in addition to…

This paper addresses the challenge of ensuring robustness in the presence of system perturbations for symbolic control techniques. Given a discrete-time control system that is related to its symbolic model by an alternating simulation…

High-voltage direct current (HVDC) is a commonly used technology for long-distance power transmission, due to its low resistive losses and low costs. In this paper, a novel distributed controller for multi-terminal HVDC (MTDC) systems is…

Successfully synthesizing controllers for complex dynamical systems and specifications often requires leveraging domain knowledge as well as making difficult computational or mathematical tradeoffs. This paper presents a flexible and…