Extended balancing of continuous LTI systems: a structure-preserving approach

In this article, we treat extended balancing for continuous-time linear time-invariant systems. We take a dissipativity perspective, thus, resulting in a characterization in terms of linear matrix inequalities. This perspective is useful for determining a priori error bounds. In addition, we address the problem of structure-preserving model...

Discrete-Time Fractional-Order Dynamical Networks Minimum-Energy State Estimation

Fractional-order dynamical networks are increasingly being used to model and describe processes demonstrating long-term memory or complex interlaced dependencies among the spatial and temporal components of a wide variety of dynamical networks. Notable examples include networked control systems or neurophysiological networks which are created...

P-satI-D Shape Regulation of Soft Robots

Soft robots are intrinsically underactuated mechanical systems that operate under uncertainties and disturbances. In these conditions, this letter proposes two versions of PID-like control laws with a saturated integral action for the particularly challenging shape regulation task. The closed-loop system is asymptotically stabilized and...

Learning for Control: An Inverse Optimization Approach

We present a learning method to learn the mapping from an input space to an action space, which is particularly suitable when the action is an optimal decision with respect to a certain unknown cost function. We use an inverse optimization approach to retrieve the cost function by introducing a new loss function and a new hypothesis class of...

Feedback Regulation of Elastically Decoupled Underactuated Soft Robots

The intrinsically underactuated and nonlinear nature of continuum soft robots makes the derivation of provably stable feedback control laws a challenging task. Most of the works so far circumvented the issue either by looking at coarse fully-actuated approximations of the dynamics or by imposing quasi-static assumptions. In this letter, we...

Robust Output Regulation: Optimization-Based Synthesis and Event-Triggered Implementation

In this article, we investigate the problem of practical output regulation, i.e., to design a controller that brings the system output in the vicinity of a desired target value while keeping the other variables bounded. We consider uncertain systems that are possibly nonlinear and the uncertainty of their linear parts is modeled element wise...

Secure Control for Cyber-Physical Systems under Malicious Attacks

This article investigates the secure control problem for cyber-physical systems when the malicious data are injected into the cyber realm, which directly connects to the actuators. Based on moving target defense (MTD) and reinforcement learning, we propose a novel proactive and reactive defense control scheme. First, the system (A,B) is...

On the structural target controllability of undirected networks

In this article, we study the target controllability problem of networked dynamical systems,in which we are tasked to steer a subset of network nodes toward a desired objective. More specifically, we derive necessary and sufficient conditions for the structural target controllability of linear time-invariant (LTI) systems with symmetric state...

A Directed Spanning Tree Adaptive Control Solution to Time-Varying Formations

In this article, the time-varying formation and time-varying formation tracking problems are solved for linear multiagent systems over digraphs without the knowledge of the eigenvalues of the Laplacian matrix associated with the digraph. The solution to these problems relies on an approach that generalizes the directed spanning tree (DST)...

Symmetrical Component Decomposition of DC Distribution Systems

Employing bipolar dc distribution systems introduces the possibility of imbalance in the system. To analyze these systems it is crucial to create novel modelling techniques. This paper presents a method to decompose dc distribution systems into symmetrical components. The presented method simplifies the analysis of balanced, unbalanced, and...

An iterative Sum-of-Squares optimization for static output feedback of polynomial systems

This work proposes an iterative procedure for static output feedback of polynomial systems based on Sum-of-Squares optimization. Necessary and sufficient conditions for static output feedback stabilization of polynomial systems are formulated, both for the global and for the local stabilization case. Since the proposed conditions are bilinear...