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

Publications associées (80)

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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

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 ...

EPFL2024

Non-parametric IQC Multipliers in Data-Driven Robust Controller Synthesis

Alireza Karimi, Vaibhav Gupta, Elias Sebastian Klauser

The paper presents a robust data-driven controller synthesis method for generalised multi-input multioutput (MIMO) systems. Using the frequency response of a linear time-invariant (LTI) MIMO system and characterising perturbations through Integral Quadrati ...

2024

Frequency Response Function (FRF)-based control synthesis methods for Linear Time-Invariant (LTI) systems have been widely used in control theory and industry. Recently, there has been renewed interest in these methods, employing numerical optimization too ...

Piscataway2023

Data-driven IQC-Based Robust Control Design for Hybrid Micro-disturbance Isolation Platform

Alireza Karimi, Vaibhav Gupta, Elias Sebastian Klauser

A novel approach for robust controller synthesis, which models uncertainty as an elliptical set, is proposed in the paper. Given a set of frequency response functions of linear time-invariant (LTI) multiple-input multiple-output (MIMO) systems, the approac ...

2023

Frequency domain LPV controller synthesis for a positioning system with uncertain scheduling parameters

Alireza Karimi, Philippe Louis Schuchert

Ever-increasing demands from the industry require better performance out of the same system to achieve a competitive advantage. In systems functioning at different operating points, a fundamental trade-off between robustness and performance can limit the a ...

2023

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 ...

2022

Frequency-domain data-driven position-dependent controller synthesis for Cartesian Robots

Alireza Karimi, Philippe Louis Schuchert

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 ...

2022

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 ...

2021