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This paper addresses the problem of determining the H-two norm of continuous-time switched linear systems in the case of arbitrary switching. A novel class of Lyapunov functions is proposed, called homogeneous rational Lyapunov functions (HRLFs). It is shown that a sufficient condition for establishing upper bounds of the H-two norm can be given in terms of a linear matrix inequality (LMI) feasibility...
Hardware-in-the-Loop (HIL) and Rapid Control Prototyping (RPC) are extensively used techniques for the design of control systems. Matlab-based commercial tools for HIL and RPC usually are not cost-effective for most universities in developing countries, where research is limited and their purpose is mostly educational. With that in mind, in this paper we propose a low-cost high-performance control...
A number of Linear Matrix Inequality (LMI) conditions for the design of gain-scheduled quadratic H∞ output-feedback controllers can be found in the literature under a variety of assumptions on both the system as well as the controller structure. The first contribution of the present paper is to provide a catalog of such conditions, including some new conditions, which cover most practical applications...
The design of explicit constrained control is relatively simple when a controlled contractive set is available. However, the complexity of the explicit controller will depend on the complexity of the controlled contractive set. The ability to design a low complexity controlled contractive set is therefore desirable. Most methods for finding controlled contractive sets either assume the use of a constant...
The design of full-order state observers with error limitation can be performed by using set invariance concepts, together with the multiparametric programming technique, which presents, as solution, piecewise affine (PWA) output injection laws over polyhedral regions. However, this technique has some disadvantages when applied to multiple-output systems, such as complex calculations, high computational...
This paper deals with the identification of piecewise affine state-space models. These models are obtained by partitioning the state or input domain into a finite number of regions and by considering affine submodels in each region. The proposed framework uses the Expectation Maximization (EM) algorithm to identify the parameters of the model. In most of the current literature, a discrete random variable...
This paper focus on stochastic control design in the Kullback-Leibler sense. The technique is called the Fully Probabilistic Design (FPD) and consist in essence of finding a stochastic control law, given in terms of a probability density function (pdf), minimizing the Kullback-Liebler distance between pdfs describing a given closed loop system and a desired closed loop system. This paper demonstrate...
For the optimal point-to-point control of a discrete-time linear system in a time varying non-convex environment, this paper investigates how such problems can be handled online. An illustrative example is that of steering a robotic end-effector from an initial to a final state, while executing the motion free of collision in the presence of a human worker. The challenge is to obtain a solution with...
In this paper, three follower distribution algorithms, (1) shortest-path follower distribution, (2) even follower distribution, and (3) hybrid follower distribution algorithms, are described for arbitrary leader-follower networks with pre-selected leaders. The shortest-path follower distribution algorithm is designed to minimize the path length that connects a leader to its followers while distributing...
In this paper we introduce an algorithm for the synthesis of polynomial Lyapunov functions for polynomial vector fields. The Lyapunov function is a continuous piecewisepolynomial defined on simplices, which compose a collection of simplices. The algorithm is elaborated and crucial features are explained in detail. The strengths and weaknesses of the algorithm are exemplified and a new way of sub-dividing...
In this paper we present a method to simultaneously design a static state feedback gain and the trigger function to stabilize discrete-time LTI systems subject to actuator saturation under an event-triggered strategy. We derive LMI-based conditions that ensure local (or global, when possible) asymptotic stability of the origin based on the Lyapunov theory. To tune the parameters, we propose convex...
This paper addresses the computation of additively separable Lyapunov functions for interconnected systems. The presented results can be applied to reduce the complexity of the computations associated with stability analysis of large scale systems. We provide a necessary and sufficient condition for the existence of an additively separable Lyapunov function; subsequently, sparsity conditions are given...
This paper is concerned with the filter design problem for linear parameter varying (LPV) discrete-time systems with nonlinearities described by integral quadratic constraints. The LPV system is considered to have an arbitrary dependence on the time-varying parameters, not necessarily rational. The filter designed assures a bound to the worst case gain from the disturbance input to the filtering error...
This paper considers the synthesis of distributed reactive control protocols for a Boolean network in a distributed manner. We start with a directed acyclic graph representing a network of Boolean subsystems and a global contract, given as an assumption-guarantee pair. Assumption captures the environment behavior, and guarantee is the requirements to be satisfied by the system. Local assumption-guarantee...
Invariant sets play a fundamental role in the analysis and control design of dynamical systems. In this paper, we consider computation of maximal invariant sets for discrete-time switched nonlinear systems. Switched nonlinear systems are described as a family of nonlinear systems with a discrete variable that decides which mode will be active at a specific time. We consider two scenarios: one leads...
A new MATLAB based software package which, besides analysis, can be used to design centralized or decentralized controllers to stabilize time-delay systems is introduced.
This paper is concerned with the problem of H2 dynamic output feedback control for discrete-time Markov jump linear systems (MJLS) whose transition probability matrix is affected by uncertainties. A two step procedure based on linear matrix inequality (LMI) conditions is used to solve the problem. In the first step, a stabilizing parameter-dependent state feedback gain is computed. The gain, not implementable,...
This paper presents two algorithms for the computation of polyhedral positively invariant sets for constrained discrete-time certain and uncertain linear systems, extended from [11]. The approach is based on the novel use of auxiliary constant state feedback laws that give distinct, stable, real-valued closed loop eigenvalues. The algorithms are simple and non-iterative, and include only linear programming...
This paper addresses the design problem of feedforward controllers for discrete-time Linear Time-Invariant (LTI) plant systems under the condition that prior external signals (e.g. disturbance or reference input) are measurable online and can be exploited as the input to the feedforward controllers. The representation of descriptor systems is adopted to incorporate the prior external signals into...
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