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Ellipsoidal Techniques for Hybrid Dynamics: the Reachability Problem
This paper deals with the dynamics of hybrid systems under piecewise open-loop controls restricted by hard bounds. The system equations may be reset...
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Exploiting Algebraic Structure in Sum of Squares Programs
We present an overview of several different techniques available for exploiting structure in the formulation of semidefinite programs based on the...
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SOSTOOLS and Its Control Applications
In this chapter we present SOSTOOLS, a third-party MATLAB toolbox for formulating and solving sum of squares optimization problems. Sum of squares...
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A Appendix: Introduction to Stochastic Differential Equations
In this appendix we bring some basic results concerning stochastic differential equations of the Ito type which systems with state-multiplicative...
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3 Continuous-time Systems: General Filtering
In this chapter we bring the solution of the continuous-time stationary filtering using a general-type filter [45], [41]. Recently, the solution of...
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6 Conclusion
Classical hybrid estimation schemes, such as the family of multiple-model estimation algorithms, do not scale up to the demanding estimation and...
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Introduction to Control Reconfiguration
Controlled technological systems are used in many fields. They provide essential services such as the regulation of water pressure, the control of...
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Direct Reconfiguration Using a Static Block
This chapter employs a static reconfiguration block in order to solve the direct reconfiguration problem. It is shown that this approach gives...
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Solvability of Disturbance Decoupling
The strong reconfiguration problem leads to a disturbance decoupling problem as stated in Sect. 10.4. There are known structural tests for the...
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Running Example: the 2-Tank System
A simple system will be used as a running example throughout the manuscript. It serves to illustrate typical faults and the resulting reconfiguration...
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6 Experimental Results for Contact Force and Compliant Motion Control
In this chapter, we describe the hardware experiments performed to evaluate the performance of the proposed AHIC scheme for compliant motion and...
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4 Contact Force and Compliant Motion Control
Robotic tasks mainly fall into two categories: Constrained and unconstrained motions. During the initial stages of development in robotics, most...
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A Mathematical Model for the Progression of an Abnormality in the Hematopoietic System
Myelodysplastic Syndrome (MDS) is an abnormality of the hematopoietic stem cells. MDS affects the normal functions of the progenitor cells that lead...
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The Hermann-Martin Curve
Every linear system can be naturally identified with a rational curve in a Grassmann variety. The associated curve is often referred to as...
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Set-point Boundary Control for a Viscous Burgers Equation
This paper is concerned with problems of set point regulation of a boundary controlled viscous Burgers' equation. The methodology for obtaining the...
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Hamptonese and Hidden Markov Models
James Hampton was a quiet and secretive man who left behind a monumental work of visionary art, along with a strange handwritten script. Hampton's...
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Interior-Point Algorithms for Semidefinite Programming Problems Derived from the KYP Lemma
We discuss fast implementations of primal-dual interior-point methods for semidefinite programs derived from the Kalman-Yakubovich-Popov lemma, a...
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Detecting Global Optimality and Extracting Solutions in GloptiPoly
GloptiPoly is a Matlab/SeDuMi add-on to build and solve convex linear matrix inequality (LMI) relaxations of non-convex optimization problems with...
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6 Structural Properties of Discrete and Continuous Linear Time-Varying Systems: A Unified Approach
The aim of this chapter is the study of structural properties of linear systems. Systems with time-varying coefficients are considered, both in the...
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5 Algebraic Analysis of Control Systems Defined by Partial Differential Equations
The present chapter contains the material taught within the module P2 of FAP 2004. The purpose of this intensive course is first to provide an...