Concept

Marginal stability

Related publications (34)

Critical degeneracy in a nonlinear hyperbolic equation can produce atypical instability

This paper deals with the initial value problem for a semilinear wave equation on a bounded domain and solutions are required to vanish on the boundary of this domain. The essential feature of the situation considered here is that the ellipticity of the sp ...

2024

A Provably Stable Iterative Learning Controller for Continuum Soft Robots

Josephine Anna Eleanor Hughes, Francesco Stella

Fully exploiting soft robots' capabilities requires devising strategies that can accurately control their movements with the limited amount of control sources available. This task is challenging for reasons including the hard-to-model dynamics, the system' ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2023

Long Time Behavior of an Age- and Leaky Memory-Structured Neuronal Population Equation

Valentin Marc Schmutz

We study the asymptotic stability of a two-dimensional mean-field equation, which takes the form of a nonlocal transport equation and generalizes the time-elapsed neuron network model by the inclusion of a leaky memory variable. This additional variable ca ...

2022

Analytical modeling and experimental validation of rotationally actuated pinned–pinned and fixed–pinned buckled beam bistable mechanisms

Simon Nessim Henein, Loïc Benoît Tissot-Daguette, Hubert Pierre-Marie Benoît Schneegans, Etienne Frédéric Gabriel Thalmann

Buckled beams have become key building blocks in compliant mechanisms to achieve nonlinear behaviors, such as bistability, constant-force and stiffness tuning. However, designing and modeling such components is challenging due to their highly nonlinear cha ...

2022

A Note on BIBO Stability

Michaël Unser

The statements on the BIBO stability of continuoustime convolution systems found in engineering textbooks are often either too vague (because of lack of hypotheses) or mathematically incorrect. What is more troubling is that they usually exclude the identi ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2020

Avoidance of Convex and Concave Obstacles with Convergence ensured through Contraction

Aude Billard, Lukas Huber

This paper presents a closed-form approach to obstacle avoidance for multiple moving convex and star-shaped concave obstacles. The method takes inspiration in harmonic-potential fields. It inherits the convergence properties of harmonic potentials. We prov ...

2019

Stability Analysis of Primary Plug-and-Play and Secondary Leader-Based Controllers for DC Microgrid Clusters

Giancarlo Ferrari Trecate, Michele Tucci, Andrea Martinelli, Renke Han

In this paper, we propose a new hierarchical control scheme for microgrid (MG) clusters, given by the interconnection of atomic dc MGs with ZIP loads, each composed by both grid-forming and grid-feeding converters. In the primary level, we develop a new Pl ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2019

Adaptive model predictive control for linear time varying MIMO systems

Vojislav Gligorovski

A robust, adaptive Model Predictive Control (MPC) approach for asymptotically stable, constrained linear time-varying (LTV) systems with multiple inputs and outputs is proposed. The approach consists of two-steps, carried out on-line with a receding horizo ...

2019

From High-Level to Low-Level Robot Learning of Complex Tasks: Leveraging Priors, Metrics and Dynamical Systems

Nadia Barbara Figueroa Fernandez

Humans have a remarkable way of learning, adapting and mastering new manipulation tasks. With the current advances in Machine Learning (ML), the promise of having robots with such capabilities seems to be on the cusp of reality. Transferring human-level sk ...

EPFL2019

Rayleigh-Taylor instability under a spherical substrate

François Gallaire, Gioele Mariano Nicolò Balestra, David Minh-Phuc Nguyen

We investigate the Rayleigh-Taylor instability of a thin viscous film coating the inside of a spherical substrate. The aim of this work is to find and characterize the instability pattern in this spherical geometry. In contrast to the Rayleigh-Taylor insta ...

2018

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