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

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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

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

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

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

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

First Order Methods For Globally Optimal Distributed Controllers Beyond Quadratic Invariance

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

Frequency fluctuations in nanomechanical silicon nitride string resonators