Publications related to H-Infinity Gain-Scheduled Controller Design for Rejection of Time-Varying Disturbances with Application to an Active Suspension System

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

Learning Robustly Safe Output Feedback Controllers from Noisy Data with Performance Guarantees

Giancarlo Ferrari Trecate, Luca Furieri, Baiwei Guo, Andrea Martin

How can we synthesize a safe and near-optimal control policy for a partially-observed system, if all we are given is one historical input/output trajectory that has been corrupted by noise? To address this challenge, we suggest a novel data-driven controll ...

2021

Data-Driven Passivity-Based Current Controller Design for Power-Electronic Converters of Traction Systems

Alireza Karimi, Seyed Sohail Madani

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 ...

IEEE2020

Stabilization and Performance Improvement of Power-Hardware-in-the-Loop Test Using a Robust Data-Driven Method

Alireza Karimi, Seyed Sohail Madani

Power-Hardware-in-the-Loop (PHIL) setups have gained high importance in validation of the performance of newly developed instruments and devices with low risk and implementation cost. However, the interconnection of a power hardware with a simulated model ...

2020

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

Force Reduction in a Short-Stroke Vibration Tubular Generator for Vehicle Energy Harvesting Application

Minh Trung Duöng

This paper examines methods to reduce the detent force and electromagnetic force in a short-stroke vibration tubular generator used to harvest energy from a vehicle suspension system but still achieve the design targets of power and power density. A well-k ...

2020

From human action understanding to robot action execution: how the physical properties of handled objects modulate non-verbal cues

Aude Billard, Konstantinos Chatzilygeroudis, Nuno Ricardo Ferreira Duarte, José Santos-Victor

Humans manage to communicate action intentions in a non-verbal way, through body posture and movement. We start from this observation to investigate how a robot can decode a human's non-verbal cues during the manipulation of an object, with specific physic ...

IEEE2020

A data-driven approach to model-reference control with applications to particle accelerator power converters

Alireza Karimi, Achille Nicoletti, Michele Martino

A new model-reference data-driven approach is presented which uses the frequency response data of a system in order to avoid the problem of unmodeled dynamics associated with low-order parametric models. It is shown that a convex optimization problem can b ...

PERGAMON-ELSEVIER SCIENCE LTD2019

Robust control of systems with sector nonlinearities via convex optimization: A data-driven approach

Alireza Karimi, Achille Nicoletti

In this paper, a new data-driven method for designing robust controllers is proposed for systemswith sector-bounded nonlinearities and multimodel uncertainties. The results from the circle criterion are used to generate necessary and sufficient convex cons ...

WILEY2019

A Robust Data-Driven Controller Design Methodology With Applications to Particle Accelerator Power Converters

Alireza Karimi, Achille Nicoletti, Michele Martino

A new data-driven approach using the frequency response function (FRF) of a system is proposed for designing robust-fixed structure digital controllers for particle accelerators' power converters. This design method ensures that the dynamics of a system ar ...

2019

H-Infinity Gain-Scheduled Controller Design for Rejection of Time-Varying Disturbances with Application to an Active Suspension System

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

Learning Robustly Safe Output Feedback Controllers from Noisy Data with Performance Guarantees

Data-Driven Passivity-Based Current Controller Design for Power-Electronic Converters of Traction Systems

Stabilization and Performance Improvement of Power-Hardware-in-the-Loop Test Using a Robust Data-Driven Method

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

Force Reduction in a Short-Stroke Vibration Tubular Generator for Vehicle Energy Harvesting Application

From human action understanding to robot action execution: how the physical properties of handled objects modulate non-verbal cues

A data-driven approach to model-reference control with applications to particle accelerator power converters

Robust control of systems with sector nonlinearities via convex optimization: A data-driven approach

A Robust Data-Driven Controller Design Methodology With Applications to Particle Accelerator Power Converters

Learning Robustly Safe Output Feedback Controllers from Noisy Data with Performance Guarantees

Data-Driven Passivity-Based Current Controller Design for Power-Electronic Converters of Traction Systems

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

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

A data-driven approach to model-reference control with applications to particle accelerator power converters

A Robust Data-Driven Controller Design Methodology With Applications to Particle Accelerator Power Converters

From human action understanding to robot action execution: how the physical properties of handled objects modulate non-verbal cues

Stabilization and Performance Improvement of Power-Hardware-in-the-Loop Test Using a Robust Data-Driven Method

Force Reduction in a Short-Stroke Vibration Tubular Generator for Vehicle Energy Harvesting Application

Robust control of systems with sector nonlinearities via convex optimization: A data-driven approach