相关论文: Dynamic Output-Feedback Controller Synthesis for D…
In this note we address the problem of indirect adaptive (regulation or tracking) control of nonlinear, input affine dissipative systems. It is assumed that the supply rate, the storage and the internal dissipation functions may be…
The Error-in-Variables model of system identification/control involves nontrivial input and measurement corruption of observed data, resulting in generically nonconvex optimization problems. This paper performs full-state-feedback…
Modern control is implemented with digital microcontrollers, embedded within a dynamical plant that represents physical components. We present a new algorithm based on counter-example guided inductive synthesis that automates the design of…
Structured output feedback controller synthesis is an exciting recent concept in modern control design, which bridges between theory and practice in so far as it allows for the first time to apply sophisticated mathematical design paradigms…
System Level Synthesis (SLS) allows us to construct internally stabilizing controllers for large-scale systems. However, solving large-scale SLS problems is computationally expensive and the state-of-the-art methods consider only state…
This paper investigates the problem of data-driven stabilization for linear discrete-time switched systems with unknown switching dynamics. In the absence of noise, a data-based state feedback stabilizing controller can be obtained by…
This paper considers the optimization landscape of linear dynamic output feedback control with $\mathcal{H}_\infty$ robustness constraints. We consider the feasible set of all the stabilizing full-order dynamical controllers that satisfy an…
A dynamic backstepping method is proposed to design controllers for nonlinear systems in the pure-feedback form, for which the traditional backstepping method suffers from solving the implicit nonlinear algebraic equation. The idea of this…
We consider the feedback design for stabilizing a rigid body system by making and breaking multiple contacts with the environment without prespecifying the timing or the number of occurrence of the contacts. We model such a system as a…
This work proposes a data-driven regulator design that drives the output of a nonlinear system asymptotically to a time-varying reference and rejects time-varying disturbances. The key idea is to design a data-driven feedback controller…
In this paper, we propose a novel data-driven predictive control approach for systems subject to time-domain constraints. The approach combines the strengths of H-infinity control for rejecting disturbances and MPC for handling constraints.…
As we transition towards the deployment of data-driven controllers for black-box cyberphysical systems, complying with hard safety constraints becomes a primary concern. Two key aspects should be addressed when input-output data are…
The problem of robust controller synthesis for plants affected by structured uncertainty, captured by integral quadratic constraints, is discussed. The solution is optimized towards a worst-case white noise rejection specification, which is…
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 is concerned with the presentation of new delay-dependent dissipativity-based convex conditions (expressed in the form of linear matrix inequalities) for the design of static output feedback (SOF) stabilizing gains for open-loop…
The Linear Parameter-Varying (LPV) framework has long been used to guarantee performance and stability requirements of nonlinear (NL) systems mainly through the $\mathcal{L}_2$-gain concept. However, recent research has pointed out that…
This paper develops a robust safety-critical control method for nonlinear strictfeedback systems with mismatched disturbances. Using a state transformation and a linear time-varying disturbance observer, the system is converted into a form…
The synthesis problem of static output feedback controllers within the anistropic-norm setup is revisited. A tractable synthesis approach involving iterations over a convex optimization problem is suggested, similarly to existing results…
Many correct-by-construction control synthesis methods suffer from the curse of dimensionality. Motivated by this challenge, we seek to reduce a correct-by-construction control synthesis problem to subproblems of more modest dimension. As a…
Given one open-loop measured trajectory of a single-input single-output discrete-time linear time-invariant system, we present a framework for data-driven controller design for closed-loop finite-horizon dissipativity. First, we parametrize…