相关论文: Output Feedback Control of Linear Time-Invariant S…
We propose an approach to synthesize linear feedback controllers for linear systems in polygonal environments. Our method focuses on designing a robust controller that can account for uncertainty in measurements. Its inputs are provided by…
This paper investigates the design of a robust output-feedback linear parameter-varying (LPV) gain-scheduled controller for the speed regulation of a surface permanent magnet synchronous motor (SPMSM). Motor dynamics is defined in the…
We study the problem of \textit{safe control of linear dynamical systems corrupted with non-stochastic noise}, and provide an algorithm that guarantees (i) zero constraint violation of convex time-varying constraints, and (ii) bounded…
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…
We present an approach to compute stabilizing controllers for continuous-time linear time-invariant systems directly from an input-output trajectory affected by process and measurement noise. The proposed output-feedback design combines (i)…
This paper generalizes recent results by the authors on noninvasive model-reference adaptive control designs for control-based continuation of periodic orbits in periodically excited linear systems with matched uncertainties to a larger…
We present a data-driven nonlinear predictive control approach for the class of discrete-time multi-input multi-output feedback linearizable nonlinear systems. The scheme uses a non-parametric predictive model based only on input and noisy…
In an open-loop experiment, an input sequence is applied to an unknown linear time-invariant system (in continuous or discrete time) affected also by an unknown-but-bounded disturbance sequence (with an energy or instantaneous bound); the…
We obviate the use of observers for the purpose of output feedback tracking control of Lagrangian systems and solve some long-standing yet well-documented open problems. As often implemented in control practice, we replace unavailable…
This paper addresses the problem of robust dynamic output stabilization of FO-LTI interval systems with the fractional order 0<{\alpha}<2, in terms of linear matrix inequalities (LMIs). Our purpose is to design a robust dynamic output…
Although Koopman operators provide a global linearization for autonomous dynamical systems, nonautonomous systems are not globally linear in the inputs. State (or output) feedback controller design therefore remains nonconvex in typical…
Relaxed conditions are given for stability of a feedback system consisting of an exponentially stable multi-input multi-output nonlinear plant and an integral controller. Roughly speaking, it is shown that if the composition of the plant…
In this paper, we investigate the problem of semi-global minimal time robust stabilization of analytic control systems with controls entering linearly, by means of a hybrid state feedback law. It is shown that, in the absence of minimal…
Although the raison d'etre of the brain is the survival of the body, there are relatively few theoretical studies of closed-loop rhythmic motor control systems. In this paper we provide a unified framework, based on variational analysis,…
This paper presents a new model-based algorithm that computes predictive optimal controls on-line and in closed loop for traditionally challenging nonlinear systems. Examples demonstrate the same algorithm controlling hybrid impulsive,…
The idea of posing a command following or tracking control problem as an input reconstruction problem is explored in the paper. For a class of square MIMO systems with known dynamics, by pretending that reference commands are actual outputs…
This paper is concerned with the design of an augmented state feedback controller for finite-dimensional linear systems with nonlinear observation dynamics. Most of the theoretical results in the area of (optimal) feedback design are based…
We propose a data-driven online convex optimization algorithm for controlling dynamical systems. In particular, the control scheme makes use of an initially measured input-output trajectory and behavioral systems theory which enable it to…
This paper presents a nonlinear control algorithm for speed control of a permanent magnet motor. The idea relies on a feedback linearization technique which also ensures adherence to current and voltage bounds. These bounds arise from…
This paper proposes a novel nonlinear sliding mode state feedback controller for perturbed second-order systems. In analogy to a linear proportional-derivative (PD) feedback control, the proposed nonlinear scheme uses the output of interest…