Publications related to Fixed-Order Robust Controller Design by Convex Optimization Using Spectral Models

Data-driven LPV Control for Micro-disturbance Rejection in a Hybrid Isolation Platform

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 ...

2024

Robust Data-Driven Controller Design with Finite Frequency Samples

Alireza Karimi, Philippe Louis Schuchert

Modern control synthesis methods rely on accurate models to derive a performant controller. Obtaining a good model is often a costly step, and has led to a renewed interest in data-driven synthesis methods. Frequency-response-based synthesis methods have b ...

2024

Data-driven LPV Disturbance Rejection Control with IQC-based Stability Guarantees for Rate-bounded Scheduling Parameter Variations

Alireza Karimi, Elias Sebastian Klauser

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 ...

2024

Data-Driven Control Synthesis using Koopman Operator: A Robust Approach

Alireza Karimi, Mert Eyuboglu, Nathan Russell Powell

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 ...

2024

Violation-aware contextual Bayesian optimization for controller performance optimization with unmodeled constraints

Colin Neil Jones, Bratislav Svetozarevic, Wenjie Xu

We study the problem of performance optimization of closed -loop control systems with unmodeled dynamics. Bayesian optimization (BO) has been demonstrated to be effective for improving closed -loop performance by automatically tuning controller gains or re ...

Elsevier Sci Ltd2024

Real-Time Localization for Closed-Loop Control of Assistive Furniture

Auke Ijspeert, Alexandre Massoud Alahi, Lixuan Tang, Anastasia Bolotnikova, Chuanfang Ning, George Adaimi

For people with limited mobility, navigating in cluttered indoor environment is challenging. In this work, we propose a mobile assistive furniture suite that is designed to ease the life of people with special needs in indoor movement. To enable intelligen ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2023

On the Equivalence of Youla, System-Level, and Input-Output Parameterizations

Maryam Kamgarpour, Luca Furieri, Yu Zheng

A convex parameterization of internally stabilizing controllers is fundamental for many controller synthesis procedures. The celebrated Youla parameterization relies on a doubly coprime factorization of the system, while the recent system-level and input-o ...

2021

First Order Methods For Globally Optimal Distributed Controllers Beyond Quadratic Invariance

Maryam Kamgarpour, Luca Furieri

We study the distributed Linear Quadratic Gaussian (LQG) control problem in discrete-time and finite-horizon, where the controller depends linearly on the history of the outputs and it is required to lie in a given subspace, e.g. to possess a certain spars ...

IEEE2020

System-level, Input-output and New Parameterizations of Stabilizing Controllers, and Their Numerical Computation

Maryam Kamgarpour, Luca Furieri, Na Li

It is known that the set of internally stabilizing controller

\mathcal{C}_{\text{stab}}

is non-convex, but it admits convex characterizations using certain closed-loop maps: a classical result is the {Youla parameterization}, and two recent notions are t ...

2020

Frequency fluctuations in nanomechanical silicon nitride string resonators

Luis Guillermo Villanueva Torrijo, Alper Demir

High quality factor (Q) nanomechanical resonators have received a lot of attention for sensor applications with unprecedented sensitivity. Despite the large interest, few investigations into the frequency stability of high-Q resonators have been reported. ...

AMER PHYSICAL SOC2020

Fixed-Order Robust Controller Design by Convex Optimization Using Spectral Models

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Data-driven LPV Control for Micro-disturbance Rejection in a Hybrid Isolation Platform

Robust Data-Driven Controller Design with Finite Frequency Samples

Data-driven LPV Disturbance Rejection Control with IQC-based Stability Guarantees for Rate-bounded Scheduling Parameter Variations

Data-Driven Control Synthesis using Koopman Operator: A Robust Approach

Violation-aware contextual Bayesian optimization for controller performance optimization with unmodeled constraints

Real-Time Localization for Closed-Loop Control of Assistive Furniture

On the Equivalence of Youla, System-Level, and Input-Output Parameterizations

First Order Methods For Globally Optimal Distributed Controllers Beyond Quadratic Invariance

System-level, Input-output and New Parameterizations of Stabilizing Controllers, and Their Numerical Computation

Frequency fluctuations in nanomechanical silicon nitride string resonators

Real-Time Localization for Closed-Loop Control of Assistive Furniture

Data-Driven Control Synthesis using Koopman Operator: A Robust Approach

Robust Data-Driven Controller Design with Finite Frequency Samples

On the Equivalence of Youla, System-Level, and Input-Output Parameterizations

Frequency fluctuations in nanomechanical silicon nitride string resonators

Data-driven LPV Control for Micro-disturbance Rejection in a Hybrid Isolation Platform

Data-driven LPV Disturbance Rejection Control with IQC-based Stability Guarantees for Rate-bounded Scheduling Parameter Variations

First Order Methods For Globally Optimal Distributed Controllers Beyond Quadratic Invariance

Violation-aware contextual Bayesian optimization for controller performance optimization with unmodeled constraints

System-level, Input-output and New Parameterizations of Stabilizing Controllers, and Their Numerical Computation