In Control System Theory, the study of continuous-time, finite dimensional, underdetermined systems of ordinary differential equations is an important topic. Classification of systems in different categories is a natural initial step to the analysis of a g ...
This work introduces an educational framework based on the Lego Mindstorms NXT robotic platform used to outline both the theoretical and practical aspects of the Model Predictive Control (MPC) theory. The framework has been developed in the widely used Mat ...
This paper presents an educational framework based on the Lego Mindstorms NXT robotic platform used to outline both the theoretical and practical aspects of the Model Predictive Control theory. The case of a two-wheeled inverted pendulum is considered as a ...
This paper proposes a feedback law capable of swinging up and stabilizing the cartpendulum system. The approach uses an iterative algorithm that is typically used to construct a locally linearizing output for nonlinear control-affine systems. However, rath ...
This work presents an approach for both dis- tributed synthesis and control for a network of discrete-time constrained linear systems without central coordinator. Every system in the network is dynamically coupled to a number of neighboring systems and it ...
The problem of swinging up an inverted pendulum on a cart and controlling it around the upright position has traditionally been treated as two separate problems. This paper proposes a control strategy that is globally asymptotically stable under actuator s ...
The performance of a predictive controller is typically poor when the true plant evolution deviates significantly from that predicted by the model. A robust control approach that considers model uncertainty explicitly is then needed. However, it is often d ...
