A representation theorem for linear discrete-space systems.
A review of the matrix Riccati equation
A robust computational technique for a system of singularly perturbed reaction-diffusion equations
A robust controller design method and stability analysis of an underactuated underwater vehicle
The problem of designing a stabilizing feedback controller for an underactuated system is a challenging one since a nonlinear system is not stabilizable by a smooth static state feedback law. A necessary condition for the asymptotical stabilization of an underactuated vehicle to a single equilibrium is that its gravitational field has nonzero elements corresponding to unactuated dynamics. However, global asymptotical stability (GAS) cannot be guaranteed. In this paper, a robust proportional-integral-derivative...
A robustness result for a von Kármán plate
A rule based machine learning approach to the nonlinear multifingered robot gripper problem
A safe supervisory flight control scheme in the presence of constraints and anomalies
In this paper the hybrid supervisory control architecture developed by Famularo et al. (2011) for constrained control systems is adopted with the aim to improve safety in aircraft operations when critical events like command saturations or unpredicted anomalies occur. The capabilities of a low-computational demanding predictive scheme for the supervision of non-linear dynamical systems subject to sudden switchings amongst operating conditions and time-varying constraints are exploited in the flight...
A sample-time adjusted feedback for robust bounded output stabilization
This paper deals with a bounded control design for a class of nonlinear systems where the mathematical model may be not explicitly given. This class of uncertain nonlinear systems governed by a system of ODE with quasi-Lipschitz right-hand side and containing external perturbations as well. The Attractive Ellipsoid Method (AEM) application permits to describe the class of nonlinear feedbacks (containing a nonlinear projection operator, a linear state estimator and a feedback matrix-gain) guaranteeing...
A scratch removal method
We present a new type of scratch removal algorithm based on a causal adaptive multidimensional prediction. The predictor use available information from the failed pixel surrounding due to spectral and spatial correlation of multispectral data but not any information from failed pixel itself. Predictor parameters cannot be directly identified so a special approximation is introduced.
A separation principle for the stabilization of a class of time delay nonlinear systems
In this paper, we establish a separation principle for a class of time-delay nonlinear systems satisfying some relaxed triangular-type condition. Under delay independent conditions, we propose a nonlinear time-delay observer to estimate the system states, a state feedback controller and we prove that the observer-based controller stabilizes the system.
A simple asymptotically optimal filter over an infinite horizon.
A simple definition of hidden modes, poles and zeros
A simple recursive estimator with on-line orthogonalization of the input sequence
A simple scheme for semi-recursive identification of Hammerstein system nonlinearity by Haar wavelets
A simple semi-recursive routine for nonlinearity recovery in Hammerstein systems is proposed. The identification scheme is based on the Haar wavelet kernel and possesses a simple and compact form. The convergence of the algorithm is established and the asymptotic rate of convergence (independent of the input density smoothness) is shown for piecewiseLipschitz nonlinearities. The numerical stability of the algorithm is verified. Simulation experiments for a small and moderate number of input-output...
A simple solution to the finite-horizon LQ problem with zero terminal state
This short paper deals with the classical finite-horizon linear-quadratic regulator problem with the terminal state constrained to be zero, for both continuous and discrete-time systems. Closed-form expressions for the optimal state and costate trajectories of the Hamiltonian system, as well as the corresponding control law, are derived through the solutions of two infinite- horizon LQ problems, thus avoiding the use of the Riccati differential equation. The computation of the optimal value of the...
A single-degree-of-freedom polynomial solution to the optimal feedback/feedforward stochastic tracking problem
A singular controllability problem with vanishing viscosity
The aim of this paper is to answer the question: Do the controls of a vanishing viscosity approximation of the one dimensional linear wave equation converge to a control of the conservative limit equation? The characteristic of our viscous term is that it contains the fractional power α of the Dirichlet Laplace operator. Through the parameter α we may increase or decrease the strength of the high frequencies damping which allows us to cover a large class of dissipative mechanisms. The viscous term,...
A singular perturbation problem in exact controllability of the Maxwell system
This paper studies the exact controllability of the Maxwell system in a bounded domain, controlled by a current flowing tangentially in the boundary of the region, as well as the exact controllability the same problem but perturbed by a dissipative term multiplied by a small parameter in the boundary condition. This boundary perturbation improves the regularity of the problem and is therefore a singular perturbation of the original problem. The purpose of the paper is to examine the connection,...
A Singular Perturbation Problem in Exact Controllability of the Maxwell System
This paper studies the exact controllability of the Maxwell system in a bounded domain, controlled by a current flowing tangentially in the boundary of the region, as well as the exact controllability the same problem but perturbed by a dissipative term multiplied by a small parameter in the boundary condition. This boundary perturbation improves the regularity of the problem and is therefore a singular perturbation of the original problem. The purpose of the paper is to examine the connection, for...
A situation-based multi-agent architecture for handling misunderstandings in interactions
During interactions, system actors may face up misunderstandings when their local states contain inconsistent data about the same fact. Misunderstandings in interactions are likely to reduce interactivity performances (deviation or deadlock) or even affect overall system behavior. In this paper, we characterize misunderstandings in interactions between system actors (that may be human users or system agents) in interactive adaptive systems. To deal with such misunderstandings and ensure state consistency,...