Frequency-domain controller design by linear programming
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The goal of this thesis is to propose pragmatic solutions to real challenges faced in the industry. The scope of this thesis encompasses two subjects: frequency-based structured controller synthesis for linear time-invariant (LTI) systems on one side, and ...
A novel approach for linear parameter-varying (LPV) controller synthesis for adaptive rejection of time-varying sinusoidal disturbances is proposed. Only the frequency response data of a linear time-invariant (LTI) multiple-input multiple-output (MIMO) sys ...
Control systems operating in real-world environments often face disturbances arising from measurement noise and model mismatch. These factors can significantly impact the perfor- mance and safety of the system. In this thesis, we aim to leverage data to de ...
In this paper, the challenge of asymptotically rejecting sinusoidal disturbances with unknown time-varying frequency and bounded rate is explored. A novel data-driven approach for designing linear parameter-varying (LPV) con- troller is introduced, leverag ...
This paper proposes a data-driven control design method for nonlinear systems that builds upon the Koopman operator framework. In particular, the Koopman operator is used to lift the nonlinear dynamics to a higher-dimensional space where the so-called obse ...
Cartesian robots have position-dependent dynamics that should be accounted for in high performance applications. Traditional methods design Linear Time Invariant (LTI) controllers which are robustly stable with respect to position variations, but require a ...
This paper proposes a Control by Interconnection design, for a class of constrained Port-Hamiltonian systems, which is based on an associated Model Predictive Control optimization problem. This associated optimization problem allows to consider both state ...
Power-Hardware-In-the-Loop (PHIL) setups have gained high importance in validation of the performance of newly developed algorithms and devices with low risk and implementation cost. However, the interconnection of a power hardware with a simulated model v ...
Optimization-based controllers are advanced control systems whose mechanism of determining control inputs requires the solution of a mathematical optimization problem. In this thesis, several contributions related to the computational effort required for o ...
In this paper, a data-driven method for controller design with constraints on the positive-realness of closed-loop transfer functions over an arbitrary set of frequencies is proposed. The positive-realness of a closed-loop transfer function is represented ...