Author: "Daniele Astolfi" / Topic: 02 engineering and technology - Searchworks@Jio Institute Digital Library Search Results

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37 results on '"Daniele Astolfi"'

1. Sufficient Conditions for Global Integral Action via Incremental Forwarding for Input-Affine Nonlinear Systems

Author: Vincent Andrieu, Daniele Astolfi, Mattia Giaccagli, Lorenzo Marconi, Laboratoire d'automatique, de génie des procédés et de génie pharmaceutique (LAGEPP), Université Claude Bernard Lyon 1 (UCBL), Université de Lyon-Université de Lyon-École Supérieure Chimie Physique Électronique de Lyon-Centre National de la Recherche Scientifique (CNRS), Centre National de la Recherche Scientifique (CNRS), Dept. Of Electrical, Electronic And Information Engineering, University Of Bologna, and University of Bologna
Subjects: 0209 industrial biotechnology, Integral action, Affine nonlinear system, 020901 industrial engineering & automation, Control and Systems Engineering, Computer science, Control theory, [INFO.INFO-SY]Computer Science [cs]/Systems and Control [cs.SY], 02 engineering and technology, Electrical and Electronic Engineering, ComputingMilieux_MISCELLANEOUS, Computer Science Applications
Abstract: International audience
Published: 2022
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2. Output-feedback repetitive control for minimum-phase nonlinear systems with arbitrarily relative degree

Author: Daniele Astolfi, Centre National de la Recherche Scientifique (CNRS), Laboratoire d'automatique, de génie des procédés et de génie pharmaceutique (LAGEPP), Université Claude Bernard Lyon 1 (UCBL), and Université de Lyon-Université de Lyon-École Supérieure Chimie Physique Électronique de Lyon-Centre National de la Recherche Scientifique (CNRS)
Subjects: 0209 industrial biotechnology, nonlinear Systems, Degree (graph theory), Observer (quantum physics), 020208 electrical & electronic engineering, Zero (complex analysis), 02 engineering and technology, Repetitive control, Lipschitz continuity, Nonlinear system, 020901 industrial engineering & automation, Repetitive Control, high-gain observers, Control and Systems Engineering, Control theory, forwarding, [INFO.INFO-SY]Computer Science [cs]/Systems and Control [cs.SY], 0202 electrical engineering, electronic engineering, information engineering, Minimum phase, PDEs, Convection–diffusion equation, Mathematics
Abstract: International audience; A new design of output-feedback repetitive control scheme for nonlinear minimumphase systems with arbitrary relative degree and globally Lipschitz nonlinearities is proposed. This work extends the recent results in Astolfi et al. [2021]. The delay of the repetitive control scheme is represented by a transport equation. A high-gain observer and a forwarding-based feedback law are employed to steer the desired output to zero in presence of periodic signals (references and/or perturbations) and model uncertainties.
Published: 2021
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3. Constrained state estimation for nonlinear systems: a redesign approach based on convexity

Author: Pauline Bernard, Romain Postoyan, Lorenzo Marconi, Daniele Astolfi, Laboratoire d'automatique, de génie des procédés et de génie pharmaceutique (LAGEPP), Université Claude Bernard Lyon 1 (UCBL), Université de Lyon-Université de Lyon-École Supérieure Chimie Physique Électronique de Lyon-Centre National de la Recherche Scientifique (CNRS), Centre Automatique et Systèmes (CAS), MINES ParisTech - École nationale supérieure des mines de Paris, Université Paris sciences et lettres (PSL)-Université Paris sciences et lettres (PSL), Centre de Recherche en Automatique de Nancy (CRAN), Centre National de la Recherche Scientifique (CNRS)-Université de Lorraine (UL), Alma Mater Studiorum University of Bologna (UNIBO), and ANR-19-CE48-0004,ODISSE,Synthèse d'observateur pour des systèmes de dimension infinie(2019)
Subjects: Nonlinear observers, 0209 industrial biotechnology, discrete-time, hybrid dynamical systems, Observer (quantum physics), Computer science, Convex set, 02 engineering and technology, 01 natural sciences, Convexity, Computer Science Applications, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Nonlinear system, Range (mathematics), 020901 industrial engineering & automation, Control and Systems Engineering, Robustness (computer science), Control theory, Hybrid system, 0103 physical sciences, Convergence (routing), Electrical and Electronic Engineering, nonlinear systems, 010301 acoustics, Lyapunov methods
Abstract: International audience; Given a plant whose trajectories of interest remain in a known compact set and an associated observer, we propose a general framework to modify this observer so that its state remains in a given convex set for all times, without altering the observer guaranteed performances in terms of convergence and robustness to external disturbances. The methodology can be applied to any time-varying continuous-time, discrete-time and hybrid system/observer, for which a quadratic Lyapunov function is used for the analysis. The proposed approach is relevant, for instance, to remove the peaking phenomenon, to attenuate the effect of impulsive outliers in the measurement, to avoid aberrant estimates during transients, or to guarantee a given range for variables in embedded systems.
Published: 2022
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4. Mixing sliding mode and linear differentiators for 2nd and 3rd order systems

Author: Pauline Bernard, Daniele Astolfi, Vincent Andrieu, Laboratoire d'automatique et de génie des procédés (LAGEP), Université Claude Bernard Lyon 1 (UCBL), Université de Lyon-Université de Lyon-École Supérieure Chimie Physique Électronique de Lyon-Centre National de la Recherche Scientifique (CNRS), Centre Automatique et Systèmes (CAS), MINES ParisTech - École nationale supérieure des mines de Paris, Université Paris sciences et lettres (PSL)-Université Paris sciences et lettres (PSL), and MINES ParisTech - École nationale supérieure des mines de Paris-PSL Research University (PSL)
Subjects: 0209 industrial biotechnology, Observer (quantum physics), Computer science, [MATH.MATH-DS]Mathematics [math]/Dynamical Systems [math.DS], 020208 electrical & electronic engineering, 02 engineering and technology, Lipschitz continuity, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Differentiator, Nonlinear system, Third order, 020901 industrial engineering & automation, Mixing (mathematics), Control and Systems Engineering, Control theory, Bounded function, 0202 electrical engineering, electronic engineering, information engineering, Affine transformation
Abstract: International audience; High-gain observers and sliding mode observers are two of the most common techniques to design observers (or differentiators) for lower triangular nonlinear dynamics. While sliding mode observers can handle bounded nonlinearities, high-gain linear techniques can handle global Lipschitz nonlinearities. In this preliminary paper, we present a novel observer design for second and third order systems which benefits from both techniques. More precisely, the proposed observer converges in finite-time and handles nonlinearities satisfying an incremental affine bound.
Published: 2020
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5. Adaptive low-power high-gain observers for lower-triangular systems with input-dependent Lipschitz constant

Author: Elise Morfin, Vincent Andrieu, Daniele Astolfi, Centre National de la Recherche Scientifique (CNRS), Laboratoire d'automatique, de génie des procédés et de génie pharmaceutique (LAGEPP), Université Claude Bernard Lyon 1 (UCBL), Université de Lyon-Université de Lyon-École Supérieure Chimie Physique Électronique de Lyon-Centre National de la Recherche Scientifique (CNRS), and Laboratoire d'automatique et de génie des procédés (LAGEP)
Subjects: 0209 industrial biotechnology, High-gain antenna, Observer (quantum physics), 020208 electrical & electronic engineering, Triangular matrix, 02 engineering and technology, Lipschitz continuity, Power (physics), 020901 industrial engineering & automation, Control and Systems Engineering, Control theory, [INFO.INFO-SY]Computer Science [cs]/Systems and Control [cs.SY], 0202 electrical engineering, electronic engineering, information engineering, Constant (mathematics), Mathematics
Abstract: International audience; We combine the low-power high-gain observer recently proposed in Astolfi and Marconi (2015) with the updated-gain technique used in Andrieu et al. (2009). The resulting adaptive low-power high-gain observer inherits the advantages of both techniques and can be used to address the state-estimation problem for Lipschitz systems in lower triangular form with nonlinearities having a Lipschitz constant that depends on a known external input.
Published: 2020
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6. Sufficient metric conditions for synchronization of leader-connected homogeneous nonlinear multi-agent systems

Author: Vincent Andrieu, Giacomo Casadei, Mattia Giaccagli, Daniele Astolfi, Laboratoire d'automatique, de génie des procédés et de génie pharmaceutique (LAGEPP), Université Claude Bernard Lyon 1 (UCBL), Université de Lyon-Université de Lyon-École Supérieure Chimie Physique Électronique de Lyon-Centre National de la Recherche Scientifique (CNRS), Centre National de la Recherche Scientifique (CNRS), Ampère, Département Automatique pour l'Ingénierie des Systèmes (AIS), Ampère (AMPERE), École Centrale de Lyon (ECL), Université de Lyon-Université de Lyon-Université Claude Bernard Lyon 1 (UCBL), Université de Lyon-Institut National des Sciences Appliquées de Lyon (INSA Lyon), Université de Lyon-Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche pour l’Agriculture, l’Alimentation et l’Environnement (INRAE)-École Centrale de Lyon (ECL), and Université de Lyon-Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche pour l’Agriculture, l’Alimentation et l’Environnement (INRAE)
Subjects: 0209 industrial biotechnology, Computer science, Multi-agent system, 020208 electrical & electronic engineering, Order (ring theory), contraction, 02 engineering and technology, Synchronization, Topology, incremental stability, Exponential synchronization, Nonlinear system, 020901 industrial engineering & automation, Control and Systems Engineering, Homogeneous, Synchronization (computer science), Metric (mathematics), 0202 electrical engineering, electronic engineering, information engineering, [INFO.INFO-SY]Computer Science [cs]/Systems and Control [cs.SY], multi-agent systems, Contraction (operator theory)
Abstract: International audience; We address the exponential synchronization problem of a leader-connected network of identical nonlinear systems. We suppose that each system can be made contractive by a static feedback law obtained via sufficient metric-based conditions. A distributed diffusive coupling feedback is then designed in order to solve the problem in two frameworks: the case of inputaffine systems allowed to exchange all the state information to its neighbour; and the case of nonlinear systems linear in the input allowed to exchange only a possibly nonlinear output.
Published: 2021

7. Repetitive control design based on forwarding for nonlinear minimum-phase systems

Author: Swann Marx, Daniele Astolfi, Nathan van de Wouw, Dynamics and Control, ICMS Affiliated, EAISI, EIRES, Centre National de la Recherche Scientifique (CNRS), Laboratoire d'automatique, de génie des procédés et de génie pharmaceutique (LAGEPP), Université Claude Bernard Lyon 1 (UCBL), Université de Lyon-Université de Lyon-École Supérieure Chimie Physique Électronique de Lyon-Centre National de la Recherche Scientifique (CNRS), Laboratoire des Sciences du Numérique de Nantes (LS2N), IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST), Université de Nantes (UN)-Université de Nantes (UN)-École Centrale de Nantes (ECN)-Centre National de la Recherche Scientifique (CNRS), Eindhoven University of Technology [Eindhoven] (TU/e), and ANR-19-CE48-0004,ODISSE,Synthèse d'observateur pour des systèmes de dimension infinie(2019)
Subjects: 0209 industrial biotechnology, Computer science, 020208 electrical & electronic engineering, Boundary (topology), 02 engineering and technology, Repetitive control, Lipschitz continuity, Nonlinear system, 020901 industrial engineering & automation, Control and Systems Engineering, Control theory, Convergence (routing), 0202 electrical engineering, electronic engineering, information engineering, [INFO.INFO-SY]Computer Science [cs]/Systems and Control [cs.SY], Point (geometry), Minimum phase, Electrical and Electronic Engineering, Convection–diffusion equation
Abstract: International audience; We propose a new design for a repetitive control scheme for nonlinear minimum-phase systems with arbitrary relative degree and globally Lipschitz nonlinearities. We represent the delay of the repetitive control scheme as a transport equation and we propose a new forwarding-based (partial) state-feedback design that uses not only the boundary information of the delay, but the entire state of the transport equation representing the delay. Through a rigorous mathematical analysis, we show that, from a theoretical point of view, asymptotic convergence of the desired regulated output can be achieved with the proposed control design.
Published: 2021
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8. Emulation-Based Output Regulation of Linear Networked Control Systems Subject to Scheduling and Uncertain Transmission Intervals

Author: Nathan van de Wouw, Daniele Astolfi, and Romain Postoyan
Subjects: 0209 industrial biotechnology, Emulation, Computer science, 020208 electrical & electronic engineering, Linear system, Regulator, 02 engineering and technology, Scheduling (computing), 020901 industrial engineering & automation, Control and Systems Engineering, Control theory, Hybrid system, Control system, 0202 electrical engineering, electronic engineering, information engineering
Abstract: We investigate output regulation for linear networked control systems using the emulation approach. We consider a regulator solving the problem for linear systems in the absence of the network, by following the Francis-Wonham framework. Next, the network is taken into consideration, in particular the induced time-varying inter-transmission intervals and scheduling constraints, and we model the overall system dynamics as a hybrid system. We show that only practical regulation can be achieved in general since the steady-state control input steering the output to zero cannot be generated in the networked context (in general). Explicit upper bounds on the output asymptotic gain and on the maximum allowable transmission interval guaranteeing boundedness of the closed-loop trajectories are provided, which are shown to be related.
Published: 2019

9. Redesign of discrete-time nonlinear observers with state estimate constrained in prescribed convex set

Author: Romain Postoyan, Lorenzo Marconi, Daniele Astolfi, and Pauline Bernard
Subjects: 0209 industrial biotechnology, Observer (quantum physics), Quadratic lyapunov function, Computer science, 020208 electrical & electronic engineering, Stability (learning theory), Convex set, 02 engineering and technology, Set (abstract data type), Nonlinear system, 020901 industrial engineering & automation, Discrete time and continuous time, Control and Systems Engineering, Control theory, Robustness (computer science), 0202 electrical engineering, electronic engineering, information engineering
Abstract: We propose a technique to modify a given discrete-time (nonlinear) observer so that the state estimate remains in a given convex set, without altering the observer performances in terms of convergence and robustness to external disturbances. The proposed approach can be used to remove the peaking phenomenon or to attenuate the effect of impulsive outliers in the measures. It assumes that it is possible to execute a certain number of computations between any two sampling times in order to refine the current estimate and bring it back into the prescribed set. The proposed technique can be applied to any class of nonlinear observers for which a quadratic Lyapunov function is used to prove stability.
Published: 2019
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10. Stubborn and Dead-Zone Redesign for Nonlinear Observers and Filters

Author: Luca Zaccarian, Daniele Astolfi, Angelo Alessandri, Centre National de la Recherche Scientifique (CNRS), Laboratoire d'automatique, de génie des procédés et de génie pharmaceutique (LAGEPP), Université Claude Bernard Lyon 1 (UCBL), Université de Lyon-Université de Lyon-École Supérieure de Chimie Physique Électronique de Lyon (CPE)-Centre National de la Recherche Scientifique (CNRS), Università degli studi di Genova = University of Genoa (UniGe), Équipe Méthodes et Algorithmes en Commande (LAAS-MAC), Laboratoire d'analyse et d'architecture des systèmes (LAAS), Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT)-Université de Toulouse (UT)-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Université de Toulouse (UT)-Institut National des Sciences Appliquées (INSA)-Université Toulouse - Jean Jaurès (UT2J), Université de Toulouse (UT)-Université Toulouse III - Paul Sabatier (UT3), Université de Toulouse (UT)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université de Toulouse (UT)-Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT), ANR-18-CE40-0010,HANDY,Systèmes Dynamiques Hybrides et en Réseau(2018), Université de Lyon-Université de Lyon-École Supérieure Chimie Physique Électronique de Lyon-Centre National de la Recherche Scientifique (CNRS), University of Genoa (UNIGE), Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées-Université Fédérale Toulouse Midi-Pyrénées-Centre National de la Recherche Scientifique (CNRS)-Université Toulouse III - Paul Sabatier (UT3), Université Fédérale Toulouse Midi-Pyrénées-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université Fédérale Toulouse Midi-Pyrénées-Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), and Université Fédérale Toulouse Midi-Pyrénées
Subjects: Nonlinear observers, 0209 industrial biotechnology, Dead-zone, input-to-state stability (ISS), nonlinear observers, saturation, Observer (quantum physics), Noise measurement, Computer science, Estimator, 02 engineering and technology, Dead zone, Kalman filter, Lipschitz continuity, Computer Science Applications, input-to-state stability, Nonlinear system, 020901 industrial engineering & automation, Control and Systems Engineering, Control theory, dead-zone, [INFO.INFO-SY]Computer Science [cs]/Systems and Control [cs.SY], Circle criterion, Electrical and Electronic Engineering
Abstract: International audience; We propose a redesign paradigm for stable estima-tors by introducing a saturation or a dead-zone nonlinearity with adaptive thresholds on the output injection term. Such nonlin-earities allow improving the sensitivity to measurement noise in different scenarios (impulsive disturbances or persistent noise such as sensor bias), while preserving the asymptotic convergence properties of the original observer. These redesigns apply to a broad class of state estimators, including linear observers, observers for input-affine systems, observers for Lipschitz systems , observers based on the circle criterion, high-gain observers, standard and extended Kalman filters. Simulation results confirm the effectiveness of both the stubborn and dead-zone redesigns.
Published: 2021
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11. On the use of low-pass filters in high-gain observers

Author: Marc Jungers, Daniele Astolfi, Luca Zaccarian, Centre National de la Recherche Scientifique (CNRS), Laboratoire d'automatique, de génie des procédés et de génie pharmaceutique (LAGEPP), Université Claude Bernard Lyon 1 (UCBL), Université de Lyon-Université de Lyon-École Supérieure de Chimie Physique Électronique de Lyon (CPE)-Centre National de la Recherche Scientifique (CNRS), Équipe Méthodes et Algorithmes en Commande (LAAS-MAC), Laboratoire d'analyse et d'architecture des systèmes (LAAS), Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT)-Université de Toulouse (UT)-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Université de Toulouse (UT)-Institut National des Sciences Appliquées (INSA)-Université Toulouse - Jean Jaurès (UT2J), Université de Toulouse (UT)-Université Toulouse III - Paul Sabatier (UT3), Université de Toulouse (UT)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université de Toulouse (UT)-Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT), University of Trento [Trento], Centre de Recherche en Automatique de Nancy (CRAN), Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS), ANR-18-CE40-0010,HANDY,Systèmes Dynamiques Hybrides et en Réseau(2018), Université de Lyon-Université de Lyon-École Supérieure Chimie Physique Électronique de Lyon-Centre National de la Recherche Scientifique (CNRS), Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées-Université Fédérale Toulouse Midi-Pyrénées-Centre National de la Recherche Scientifique (CNRS)-Université Toulouse III - Paul Sabatier (UT3), Université Fédérale Toulouse Midi-Pyrénées-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université Fédérale Toulouse Midi-Pyrénées-Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), and Université Fédérale Toulouse Midi-Pyrénées
Subjects: 0209 industrial biotechnology, General Computer Science, Mechanical Engineering, Low-pass filter, 020208 electrical & electronic engineering, Linear system, Scalar (physics), 02 engineering and technology, Filter (signal processing), High gain observers, Noise analysis, Nonlinear system, Noise, 020901 industrial engineering & automation, Control and Systems Engineering, Control theory, 0202 electrical engineering, electronic engineering, information engineering, Low-pass filters, [INFO.INFO-SY]Computer Science [cs]/Systems and Control [cs.SY], Canonical form, Observability, Electrical and Electronic Engineering, Mathematics
Abstract: International audience; To address the well-known noise sensitivity problems associated with high-gain observers, we insert a low-pass filter on the measurement channel. Considering nonlinear plants in observability canonical form, we first motivate an architecture where the output error is filtered by a linear system parametrized by its arbitrary order and a scalar positive gain. Our main result establishes an exponential finite gain bound for the estimation error, from the measurement noise, this gain being dependent on the high-gain and filter parameters. We also prove bounds depending on the filter parameters characterizing improved high-frequency gains from the measurement noise to the estimation error. The proposed construction is shown to behave desirably in numerical simulations.
Published: 2021
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12. Sufficient Conditions for Output Reference Tracking for Nonlinear Systems: a Contractive Approach

Author: Vincent Andrieu, Mattia Giaccagli, Lorenzo Marconi, Daniele Astolfi, Laboratoire d'automatique, de génie des procédés et de génie pharmaceutique (LAGEPP), Université Claude Bernard Lyon 1 (UCBL), Université de Lyon-Université de Lyon-École Supérieure Chimie Physique Électronique de Lyon-Centre National de la Recherche Scientifique (CNRS), Centre National de la Recherche Scientifique (CNRS), and University of Bologna
Subjects: 0209 industrial biotechnology, Computer science, 02 engineering and technology, Tracking (particle physics), Domain (software engineering), Nonlinear system, Arbitrarily large, 020901 industrial engineering & automation, Exponential stability, Control theory, 0202 electrical engineering, electronic engineering, information engineering, Trajectory, [INFO.INFO-SY]Computer Science [cs]/Systems and Control [cs.SY], 020201 artificial intelligence & image processing, State (computer science), Constant (mathematics)
Abstract: International audience; This paper deals with a tracking problem for nonlinear systems. We present sufficient conditions for the state-feedback output tracking problem, in case of arbitrarily large constant references and arbitrarily large domain of attraction. We present an extension of forwarding-based control techniques applied in an incremental framework. Simulations of an academic example are presented to validate the results.
Published: 2020

13. Forwarding design for stabilization of a coupled transport equation-ODE with a cone-bounded input nonlinearity

Author: Lucas Brivadis, Swann Marx, Daniele Astolfi, Laboratoire des Sciences du Numérique de Nantes (LS2N), IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST), Université de Nantes (UN)-Université de Nantes (UN)-École Centrale de Nantes (ECN)-Centre National de la Recherche Scientifique (CNRS), Laboratoire d'automatique, de génie des procédés et de génie pharmaceutique (LAGEPP), Université Claude Bernard Lyon 1 (UCBL), Université de Lyon-Université de Lyon-École Supérieure Chimie Physique Électronique de Lyon-Centre National de la Recherche Scientifique (CNRS), Centre National de la Recherche Scientifique (CNRS), and ANR-19-CE48-0004,ODISSE,Synthèse d'observateur pour des systèmes de dimension infinie(2019)
Subjects: 0209 industrial biotechnology, Computer science, 010102 general mathematics, Scalar (mathematics), Ode, 02 engineering and technology, Systems and Control (eess.SY), 01 natural sciences, Electrical Engineering and Systems Science - Systems and Control, Nonlinear system, 020901 industrial engineering & automation, Exponential stability, Backstepping, Stability theory, Bounded function, FOS: Electrical engineering, electronic engineering, information engineering, [INFO.INFO-SY]Computer Science [cs]/Systems and Control [cs.SY], Applied mathematics, [MATH.MATH-OC]Mathematics [math]/Optimization and Control [math.OC], 0101 mathematics, Convection–diffusion equation
Abstract: International audience; We propose a new design technique for the stabilization of coupled ODE-PDE systems in feedforward form. In particular, we address the stabilization problem of a one-dimensional transport equation driven by a scalar ODE which is controlled via a cone-bounded nonlinearity. The unforced transport equation is conservative but not asymptotically stable. The proposed technique is inspired by the forwarding approach early introduced in the 90's. Well-posedness and asymptotic stability of the closed-loop system are discussed.
Published: 2020

14. Robust Control of a Class of Bilinear Systems by Forwarding: Application to Counter Current Heat Exchanger

Author: Boussad Hamroun, B. Zitte, Daniele Astolfi, Françoise Couenne, Laboratoire d'automatique, de génie des procédés et de génie pharmaceutique (LAGEPP), Université Claude Bernard Lyon 1 (UCBL), Université de Lyon-Université de Lyon-École Supérieure Chimie Physique Électronique de Lyon-Centre National de la Recherche Scientifique (CNRS), and Centre National de la Recherche Scientifique (CNRS)
Subjects: Bilinear systems, Convection, 0209 industrial biotechnology, Computer science, 020208 electrical & electronic engineering, Energy balance, 02 engineering and technology, Nonlinear control, Volumetric flow rate, [SPI.AUTO]Engineering Sciences [physics]/Automatic, 020901 industrial engineering & automation, Heat exchanger, Control and Systems Engineering, Control theory, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, Heat transfer, 0202 electrical engineering, electronic engineering, information engineering, forwarding, Robust control
Abstract: International audience; IIn this paper we propose a robust control for the counter-current heat exchanger. Byusing energy balance equations, we propose a model in structured bilinear system that allowsto capture the heat transfer and convection phenomena. We study the problem of regulatingthe output temperature of the cold (or hot) fluid by controlling the flow rate of the hot (orcold) fluid. Using an integral action and a forwarding based control method, we derive a nonlinear control which achieves output temperature regulation. Numerical simulations confirm theeffectiveness of the proposed control.
Published: 2020

15. Supervised Output Regulation via Iterative Learning Control for Rejecting Unknown Periodic Disturbances

Author: Augustin Manecy, Daniele Astolfi, Oktay Kocan, Charles Poussot-Vassal, ONERA / DTIS, Université de Toulouse [Toulouse], ONERA-PRES Université de Toulouse, Centre National de la Recherche Scientifique (CNRS), Laboratoire d'automatique, de génie des procédés et de génie pharmaceutique (LAGEPP), Université Claude Bernard Lyon 1 (UCBL), and Université de Lyon-Université de Lyon-École Supérieure Chimie Physique Électronique de Lyon-Centre National de la Recherche Scientifique (CNRS)
Subjects: [PHYS]Physics [physics], 0209 industrial biotechnology, Iterative learning control, Computer science, 020208 electrical & electronic engineering, Control (management), Internal model, 02 engineering and technology, Tracking (particle physics), periodic disturbances, Action (physics), [SPI]Engineering Sciences [physics], 020901 industrial engineering & automation, Amplitude, robust output regulation, Control and Systems Engineering, Control theory, 0202 electrical engineering, electronic engineering, information engineering, [INFO.INFO-SY]Computer Science [cs]/Systems and Control [cs.SY], A priori and a posteriori, [INFO]Computer Science [cs], rejection, [MATH]Mathematics [math]
Abstract: International audience; The internal model principle (IMC) in linear robust output regulation theory states that a dynamical controller needs to incorporate a copy of the model generating the periodic signals in order to achieve perfect rejection/tracking, robustly with respect to plant's parameters. On the other hand Iterative Learning Control (ILC) is a data-based approach which not requires any a priori knowledge, and can be used to find the required control action for attenuating periodic disturbances or tracking periodic references. The control signal generated by ILC includes the frequency and amplitude information of the disturbance and can be used to build the internal model needed for a linear output regulator problem. The objective of this work is therefore that of trying to combine the two approaches, that is IMC and ILC, in order to retain the advantages of each methodology. The proposed methodology, denoted as Supervised Output Regulation via Iterative Learning Control (SOR-ILC), allows to address the problem of output regulation in presence of unknown frequencies. The performances of SOR-ILC are validated through numerical simulations in case of complex periodic disturbances and parameter uncertainties.
Published: 2020

16. Forwarding techniques for the global stabilization of dissipative infinite-dimensional systems coupled with an ODE

Author: Lucas Brivadis, Swann Marx, Daniele Astolfi, Laboratoire des Sciences du Numérique de Nantes (LS2N), IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST), Université de Nantes (UN)-Université de Nantes (UN)-École Centrale de Nantes (ECN)-Centre National de la Recherche Scientifique (CNRS), Laboratoire d'automatique, de génie des procédés et de génie pharmaceutique (LAGEPP), Université Claude Bernard Lyon 1 (UCBL), Université de Lyon-Université de Lyon-École Supérieure Chimie Physique Électronique de Lyon-Centre National de la Recherche Scientifique (CNRS), ANR-19-CE48-0004,ODISSE,Synthèse d'observateur pour des systèmes de dimension infinie(2019), Université de Nantes - Faculté des Sciences et des Techniques, Université de Nantes (UN)-Université de Nantes (UN)-École Centrale de Nantes (ECN)-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), and Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)
Subjects: 0209 industrial biotechnology, Control and Optimization, Semigroup theory, 02 engineering and technology, 01 natural sciences, 020901 industrial engineering & automation, Mathematics - Analysis of PDEs, Exponential stability, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, Nonlinear systems, FOS: Mathematics, Applied mathematics, [MATH.MATH-AP]Mathematics [math]/Analysis of PDEs [math.AP], 0101 mathematics, Mathematics, Equilibrium point, Semigroup, Applied Mathematics, 010102 general mathematics, Ode, Abstract systems, Forwarding design, Nonlinear system, Control and Systems Engineering, Signal Processing, Dissipative system, Convection–diffusion equation, Actuator, Analysis of PDEs (math.AP)
Abstract: International audience; This paper deals with the stabilization of a coupled system composed by an infinite-dimensional system and an ODE. Moreover, the control, which appears in the dynamics of the ODE, is subject to a general class of nonlinearities. Such a situation may arise, for instance, when the actuator admits a dynamics. The open-loop ODE is exponentially stable and the open-loop infinite-dimensional system is dissipative, i.e., the energy is nonincreasing, but its equilibrium point is not necessarily attractive. The feedback design is based on an extension of a finite-dimensional method, namely the forwarding method. We propose some sufficient conditions that imply the well-posedness and the global asymptotic stability of the closed-loop system. As illustration, we apply these results to a transport equation coupled with an ODE.
Published: 2020
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17. Uniting observers

Author: Daniele Astolfi, Dragan Nesic, Romain Postoyan, Laboratoire d'automatique, de génie des procédés et de génie pharmaceutique (LAGEPP), Université Claude Bernard Lyon 1 (UCBL), Université de Lyon-Université de Lyon-École Supérieure Chimie Physique Électronique de Lyon-Centre National de la Recherche Scientifique (CNRS), Centre de Recherche en Automatique de Nancy (CRAN), Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS), Department of Electrical and Electronic Engineering [Melbourne], Melbourne School of Engineering [Melbourne], and University of Melbourne-University of Melbourne
Subjects: Scheme (programming language), 0209 industrial biotechnology, Noise measurement, Computer science, Ranging, 02 engineering and technology, State (functional analysis), local performances, extended Kalman filters, hybrid systems, Computer Science Applications, Set (abstract data type), Nonlinear system, 020901 industrial engineering & automation, Control and Systems Engineering, [INFO.INFO-SY]Computer Science [cs]/Systems and Control [cs.SY], Initial value problem, Electrical and Electronic Engineering, nonlinear systems, Observers, computer, Algorithm, computer.programming_language
Abstract: International audience; We propose a framework for designing observers possessing global convergence properties and desired asymptotic behaviours for the state estimation of nonlinear systems. The proposed scheme consists in combining two given continuous-time observers: one, denoted as global, ensures (approximate) convergence of the estimation error for any initial condition ranging in some prescribed set, while the other, denoted as local, guarantees a desired local behaviour. We make assumptions on the properties of these two observers, and not on their structures, and then explain how to unite them as a single scheme using hybrid techniques. Two case studies are provided to demonstrate the applicability of the framework. Finally, a numerical example is presented.
Published: 2020
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18. Stabilization of nonlinear systems in presence of filtered output via extended high-gain observers

Author: Daniele Astolfi, Giacomo Casadei, Centre National de la Recherche Scientifique (CNRS), Laboratoire d'automatique, de génie des procédés et de génie pharmaceutique (LAGEPP), Université Claude Bernard Lyon 1 (UCBL), Université de Lyon-Université de Lyon-École Supérieure Chimie Physique Électronique de Lyon-Centre National de la Recherche Scientifique (CNRS), Ampère, Département Méthodes pour l'Ingénierie des Systèmes (MIS), Ampère, École Centrale de Lyon (ECL), Université de Lyon-Université de Lyon-Université Claude Bernard Lyon 1 (UCBL), Université de Lyon-Institut National des Sciences Appliquées de Lyon (INSA Lyon), Université de Lyon-Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Centre National de la Recherche Scientifique (CNRS)-École Centrale de Lyon (ECL), Université de Lyon-Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Centre National de la Recherche Scientifique (CNRS), Ampère (AMPERE), Université de Lyon-Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche pour l’Agriculture, l’Alimentation et l’Environnement (INRAE)-École Centrale de Lyon (ECL), and Université de Lyon-Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche pour l’Agriculture, l’Alimentation et l’Environnement (INRAE)
Subjects: 0209 industrial biotechnology, High-gain antenna, Observer (quantum physics), Property (programming), Computer science, 020208 electrical & electronic engineering, Control (management), 02 engineering and technology, Measure (mathematics), Stability (probability), Nonlinear system, 020901 industrial engineering & automation, Control and Systems Engineering, Cascade, Control theory, 0202 electrical engineering, electronic engineering, information engineering, [INFO.INFO-SY]Computer Science [cs]/Systems and Control [cs.SY], Electrical and Electronic Engineering
Abstract: International audience; We consider the problem of stabilizing a nonlinear system with filtered output. Given an output feedback control law which satisfies a stability requirement, we consider the case in which the necessary output cannot be measured. The measure is rather the output of an auxiliary stable dynamics in cascade with the system. In place of fully redesign the control architecture, we slightly modify the original control law design by adding a disturbance observer and we recover the desired stability property for the system. The disturbance observer is design as an extended high-gain observer.
Published: 2019
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19. High-gain observers with limited gain power for systems with observability canonical form

Author: Lorenzo Marconi, Lei Wang, Hongye Su, Daniele Astolfi, Wang, Lei, Astolfi, Daniele, Marconi, Lorenzo, Su, Hongye, Zhejiang University, and University of Bologna
Subjects: 0209 industrial biotechnology, High-gain observer, Observer (quantum physics), 020208 electrical & electronic engineering, 02 engineering and technology, State (functional analysis), Separation principle, Observability canonical form, Power (physics), Nonlinear separation principle, Nonlinear system, 020901 industrial engineering & automation, high-gain observers, Dimension (vector space), Control and Systems Engineering, Control theory, [INFO.INFO-SY]Computer Science [cs]/Systems and Control [cs.SY], 0202 electrical engineering, electronic engineering, information engineering, Canonical form, Observability, Electrical and Electronic Engineering, Mathematics
Abstract: International audience; We consider the problem of state observation for systems having a well-defined observability canonical form (Gauthier and Kupka (2004)) by means of high-gain observers. The main goal is to show that, for this class of systems, observers can be designed with the high-gain parameter powered just up to the order 2 regardless the dimension of the state system. In this way we substantially overtake the main limitations of standard design procedures in which the high-gain parameter is powered up to the order of the system. The observer structure, which generalizes the ideas presented in Astolfi and Marconi (2015), can be used in all those contexts where fast state observation is required, such as in the design of output feedback stabilizers by means of the nonlinear separation principle that is also specifically addressed in the paper.
Published: 2017
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20. Francis-Wonham nonlinear viewpoint in output regulation of minimum phase systems

Author: Laurent Praly, Daniele Astolfi, Lorenzo Marconi, Centre National de la Recherche Scientifique (CNRS), Laboratoire d'automatique, de génie des procédés et de génie pharmaceutique (LAGEPP), Université Claude Bernard Lyon 1 (UCBL), Université de Lyon-Université de Lyon-École Supérieure Chimie Physique Électronique de Lyon-Centre National de la Recherche Scientifique (CNRS), Centre Automatique et Systèmes (CAS), MINES ParisTech - École nationale supérieure des mines de Paris-PSL Research University (PSL), University of Bologna, D.E.I. - University of Bologna., DEI, MINES ParisTech - École nationale supérieure des mines de Paris, and Université Paris sciences et lettres (PSL)-Université Paris sciences et lettres (PSL)
Subjects: 0209 industrial biotechnology, 020208 electrical & electronic engineering, Internal model, Structure (category theory), 02 engineering and technology, Unitary state, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Nonlinear system, 020901 industrial engineering & automation, Control and Systems Engineering, Control theory, Cascade, Harmonics, 0202 electrical engineering, electronic engineering, information engineering, [INFO.INFO-SY]Computer Science [cs]/Systems and Control [cs.SY], Embedding, Minimum phase, ComputingMilieux_MISCELLANEOUS, Mathematics
Abstract: International audience; The paper deals with the problem of output regulation for nonlinear systems under the assumption of periodic exosystem. We build on the results presented in Astolfi et al. (2015) showing that asymptotic regulation can be achieved with an infinite dimensional regulator embedding a linear internal model copying all the harmonics that are multiple of the one associated to the exosystem. The regulator follows a post-processing structure in which the (infinite dimensional) internal model is driven by the error and a static stabiliser is considered for the cascade extended system. The post-processing structure traces the one proposed by Francis and Wonham into a linear framework. The presented analysis is limited to nonlinear systems that have unitary relative degree and that are minimum-phase.
Published: 2019
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21. Synchronization in Networks of Identical Nonlinear Systems via Dynamic Dead Zones

Author: Giacomo Casadei, Angelo Alessandri, Daniele Astolfi, Luca Zaccarian, Ampère, Département Méthodes pour l'Ingénierie des Systèmes (MIS), Ampère (AMPERE), École Centrale de Lyon (ECL), Université de Lyon-Université de Lyon-Université Claude Bernard Lyon 1 (UCBL), Université de Lyon-Institut National des Sciences Appliquées de Lyon (INSA Lyon), Université de Lyon-Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche pour l’Agriculture, l’Alimentation et l’Environnement (INRAE)-École Centrale de Lyon (ECL), Université de Lyon-Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche pour l’Agriculture, l’Alimentation et l’Environnement (INRAE), Laboratoire d'automatique, de génie des procédés et de génie pharmaceutique (LAGEPP), Université Claude Bernard Lyon 1 (UCBL), Université de Lyon-Université de Lyon-École Supérieure de Chimie Physique Électronique de Lyon (CPE)-Centre National de la Recherche Scientifique (CNRS), Dipartimento di Ingegneria Meccanica, Energetica, Gestionale e dei Trasporti (DIME), Università degli studi di Genova = University of Genoa (UniGe), Dipartimento di Ingegneria Industriale [Trento], University of Trento [Trento], Équipe Méthodes et Algorithmes en Commande (LAAS-MAC), Laboratoire d'analyse et d'architecture des systèmes (LAAS), Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT)-Université de Toulouse (UT)-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Université de Toulouse (UT)-Institut National des Sciences Appliquées (INSA)-Université Toulouse - Jean Jaurès (UT2J), Université de Toulouse (UT)-Université Toulouse III - Paul Sabatier (UT3), Université de Toulouse (UT)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université de Toulouse (UT)-Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT), ANR-18-CE40-0010,HANDY,Systèmes Dynamiques Hybrides et en Réseau(2018), Ampère, Université de Lyon-Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Centre National de la Recherche Scientifique (CNRS)-École Centrale de Lyon (ECL), Université de Lyon-Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Centre National de la Recherche Scientifique (CNRS), Université de Lyon-Université de Lyon-École Supérieure Chimie Physique Électronique de Lyon-Centre National de la Recherche Scientifique (CNRS), Universita degli studi di Genova, Institut National Polytechnique (Toulouse) (Toulouse INP), Université Fédérale Toulouse Midi-Pyrénées-Université Fédérale Toulouse Midi-Pyrénées-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université Toulouse III - Paul Sabatier (UT3), Université Fédérale Toulouse Midi-Pyrénées-Centre National de la Recherche Scientifique (CNRS)-Université Toulouse 1 Capitole (UT1)-Université Toulouse - Jean Jaurès (UT2J)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université Fédérale Toulouse Midi-Pyrénées-Centre National de la Recherche Scientifique (CNRS)-Université Toulouse 1 Capitole (UT1)-Université Toulouse - Jean Jaurès (UT2J), Institut National des Sciences Appliquées (INSA)-Université de Lyon-Institut National des Sciences Appliquées (INSA)-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche pour l’Agriculture, l’Alimentation et l’Environnement (INRAE)-École Centrale de Lyon (ECL), Institut National des Sciences Appliquées (INSA)-Université de Lyon-Institut National des Sciences Appliquées (INSA)-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche pour l’Agriculture, l’Alimentation et l’Environnement (INRAE), Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées-Université Fédérale Toulouse Midi-Pyrénées-Centre National de la Recherche Scientifique (CNRS)-Université Toulouse III - Paul Sabatier (UT3), Université Fédérale Toulouse Midi-Pyrénées-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université Fédérale Toulouse Midi-Pyrénées-Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), and Université Fédérale Toulouse Midi-Pyrénées
Subjects: 0209 industrial biotechnology, Control and Optimization, Noise measurement, Computer science, Property (programming), 02 engineering and technology, Dead zone, dynamic dead zones, Synchronization, networks of nonlinear systems, Stability (probability), measurement noise, Noise, Nonlinear system, 020901 industrial engineering & automation, Control and Systems Engineering, Control theory, Synchronization (computer science), 0202 electrical engineering, electronic engineering, information engineering, [INFO.INFO-SY]Computer Science [cs]/Systems and Control [cs.SY], 020201 artificial intelligence & image processing, Synchronization, networks of nonlinear systems, measurement noise, dynamic dead zones, Diffusive coupling
Abstract: International audience; In this paper, we consider the problem of synchronization of a network of nonlinear systems with high-frequency noise affecting the exchange of information. We modify the classic (linear) diffusive coupling by adding dynamic dead zones with the aim of reducing the impact of the noise. We show that the proposed redesign preserves asymptotic synchronization if the noise is not active and we establish a desired ISS property. Simulation results show that, in the presence of noise, the dynamic dead zones highly improve the rejection properties.
Published: 2019
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22. Design of local observers for autonomous nonlinear systems not in observability canonical form

Author: Corrado Possieri, Daniele Astolfi, Laboratoire d'automatique, de génie des procédés et de génie pharmaceutique (LAGEPP), Université Claude Bernard Lyon 1 (UCBL), Université de Lyon-Université de Lyon-École Supérieure Chimie Physique Électronique de Lyon-Centre National de la Recherche Scientifique (CNRS), Politecnico di Torino [Torino] (Polito), and Politecnico di Torino = Polytechnic of Turin (Polito)
Subjects: Coupling, 0209 industrial biotechnology, Settore ING-INF/04, Observer (quantum physics), Computer science, 020208 electrical & electronic engineering, Inverse, Control and Systems Engineering, Electrical and Electronic Engineering, 02 engineering and technology, Nonlinear system, 020901 industrial engineering & automation, Rate of convergence, Control theory, Nonlinear systems, 0202 electrical engineering, electronic engineering, information engineering, [INFO.INFO-SY]Computer Science [cs]/Systems and Control [cs.SY], Canonical form, Observability, Observers, Dynamical inversion
Abstract: International audience; The main objective of this paper is to propose a framework for the design of local asymptotic observers, with arbitrarily fast rate of convergence, for autonomous nonlinear systems that are not in observability canonical form. The proposed methodology does not require the knowledge of the inverse of the observability map. Such a goal is pursued by coupling a high-gain observer with a system that is able to locally dynamically invert the observability map.
Published: 2019
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23. About robustness of internal model-based control for linear and nonlinear systems

Author: Laurent Praly, Daniele Astolfi, Lorenzo Marconi, Michelangelo Bin, Alma Mater Studiorum Università di Bologna [Bologna] (UNIBO), Centre de Recherche en Automatique de Nancy (CRAN), Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS), Università di Bologna [Bologna] (UNIBO), Bin, Michelangelo, Astolfi, Daniele, Marconi, Lorenzo, and Praly, Laurent
Subjects: 0209 industrial biotechnology, Steady state, Conjecture, Computer science, Robustness,Regulators,Nonlinear systems,Topology,Steady-state,Uncertainty,Perturbation methods, Quantitative Biology::Molecular Networks, Linear regulator, Regulator, Internal model, Robust control, 02 engineering and technology, Output regulation, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Nonlinear system, 020901 industrial engineering & automation, Robustness (computer science), Control theory, 0202 electrical engineering, electronic engineering, information engineering, 020201 artificial intelligence & image processing, Fourier series
Abstract: International audience; In this paper we propose a general framework in which the robustness properties and requirements of output regulation schemes can be formally described. We introduce a topological definition of robustness relative to arbitrary steady state properties, extending the usual notion of robustness relative to the existence of a steady state in which the regulation error vanishes. We review some of the main control approaches for linear and nonlinear systems, by re-framing their robustness properties within the proposed setting. We show that the celebrated robustness property of the linear regulator, namely the ``internal model principle'' stated by Francis, Wonham and Davison in the 70's, can be generalized to nonlinear systems in a robustness property relative to the Fourier expansion of the regulation error. We then focus on nonlinear regulation, where we show that only practical regulation can be achieved robustly, while asymptotic regulation is achieved in a quite fragile way. The paper concludes with a conjecture stating that, in a general nonlinear context, asymptotic regulation cannot be achieved in a robust way with a finite dimensional regulator.
Published: 2018
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24. Low-power peaking-free high-gain observers

Author: Daniele Astolfi, Lorenzo Marconi, Laurent Praly, Andrew R. Teel, Centre de Recherche en Automatique de Nancy (CRAN), Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS), Center for Research on Complex Automated Systems (CASY-DEIS), Alma Mater Studiorum Università di Bologna [Bologna] (UNIBO), Centre Automatique et Systèmes (CAS), MINES ParisTech - École nationale supérieure des mines de Paris, Université Paris sciences et lettres (PSL)-Université Paris sciences et lettres (PSL), University of California [Santa Barbara] (UCSB), University of California, Università di Bologna [Bologna] (UNIBO), PSL Research University (PSL)-MINES ParisTech - École nationale supérieure des mines de Paris, Astolfi, Daniele, Marconi, Lorenzo, Praly, Laurent, and Teel, Andrew R.
Subjects: 0209 industrial biotechnology, Observer (quantum physics), High-gain observer, Computer science, 020208 electrical & electronic engineering, 02 engineering and technology, Power (physics), System dynamics, Noise, 020901 industrial engineering & automation, Dimension (vector space), Feature (computer vision), Control theory, Control and Systems Engineering, peaking, noise analysis, Noise analysi, 0202 electrical engineering, electronic engineering, information engineering, [INFO.INFO-SY]Computer Science [cs]/Systems and Control [cs.SY], Sensitivity (control systems), Transient (oscillation), Electrical and Electronic Engineering, High-gain observers
Abstract: International audience; We propose a peaking-free low-power high-gain observer that preserves the main feature of standard high-gain observers in terms of arbitrarily fast converge to zero of the estimation error, while overtaking their main drawbacks, namely the "peaking phenomenon" during the transient and the numerical implementation issue deriving from the high-gain parameter that is powered up to the order of the system. Moreover, the new observer is proved to have superior features in terms of sensitivity of the estimation error to high-frequency measurement noise when compared with standard high-gain observers. The proposed observer structure has an high-gain parameter that is powered just up to two regardless the dimension of the observed system and adopts saturations to prevent the peaking of the estimates during the transient. As for the classical solution, the new observer is robust with respect to uncertainties in the observed system dynamics in the sense that practical estimation in the high-gain parameter can be proved.
Published: 2018
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25. Sensitivity to High-Frequency Measurement Noise of Nonlinear High-Gain Observers

Author: Andrew R. Teel, Lorenzo Marconi, Laurent Praly, and Daniele Astolfi
Subjects: 0209 industrial biotechnology, Nonlinear system, High-gain antenna, 020901 industrial engineering & automation, Noise measurement, Control and Systems Engineering, Control theory, 020208 electrical & electronic engineering, 0202 electrical engineering, electronic engineering, information engineering, 02 engineering and technology, Observer (special relativity), Mathematics
Abstract: This paper deals with the characterisation of the sensitivity to high-frequency measurement noise of nonlinear high-gain observers. The proposed tool provides bounds for the steady-state estimate in presence of noise when the high-gain parameter characterising the speed of convergence of the observer is fixed. The nonlinear analysis captures the effect of the noise frequency showing the "low-pass" filtering properties of the observer.
Published: 2016
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26. Integral action for uncertain switched affine systems with application to DC/DC converters

Author: Daniele Astolfi, Louis Grimaud, Jamal Daafouz, Pierre Riedinger, Gaetan Beneux, Centre de Recherche en Automatique de Nancy (CRAN), Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS), SAFRAN Electronics & Defense, Maquin, Didier, and Centre National de la Recherche Scientifique (CNRS)-Université de Lorraine (UL)
Subjects: Convex hull, 0209 industrial biotechnology, Flyback converter, 020208 electrical & electronic engineering, 02 engineering and technology, Topology, Integral equation, [SPI.AUTO]Engineering Sciences [physics]/Automatic, 020901 industrial engineering & automation, [SPI.AUTO] Engineering Sciences [physics]/Automatic, Exponential stability, Bounded function, Convergence (routing), Convex polytope, 0202 electrical engineering, electronic engineering, information engineering, Affine transformation, Mathematics
Abstract: The paper addresses the problem of designing a stabilizing control for switched affine systems in presence of a model uncertainties. We formulate the problem both in the case where the set of affine subsystems is finite and in the case where the set of affine subsystems is not finite but given by a convex polytope, i.e., the convex hull of finitely many affine subsystems. The main contribution of this work shows how to include in the design an integral action and how a switched control with a global asymptotic stability property can be deduced. It is proved that the design procedure ensures zero steady state error on the controlled output when the discrepancy between the model and the real system is bounded. Finally, a $\mathrm {D}\mathrm {C}/\mathrm {D}\mathrm {C}$ Flyback converter is considered to illustrate the effectiveness of the proposed method. We also show that the proposed strategy allows to cancel the steady state error in mean value when the continuous time feedback is sampled.
Published: 2018

27. Emulation-based semiglobal output regulation of minimum phase nonlinear systems with sampled measurements

Author: Giacomo Casadei, Daniele Astolfi, Romain Postoyan, Centre de Recherche en Automatique de Nancy (CRAN), Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS), Networked Controlled Systems (NECS), Inria Grenoble - Rhône-Alpes, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Département Automatique (GIPSA-DA), Grenoble Images Parole Signal Automatique (GIPSA-lab), Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes (UGA)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes (UGA)-Grenoble Images Parole Signal Automatique (GIPSA-lab), Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes (UGA)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes (UGA), Région Grand-Est, European Project: 694209,Advanced Grant (AdG), ERC-2015-AdG ,Scale-FreeBack(2016), Centre National de la Recherche Scientifique (CNRS)-Université de Lorraine (UL), Grenoble Images Parole Signal Automatique (GIPSA-lab ), Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019])-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019])-Grenoble Images Parole Signal Automatique (GIPSA-lab ), Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019])-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019]), Astolfi, Daniele, and Scale-Free Control for Complex Physical Network Systems - Scale-FreeBack - - Advanced Grant (AdG), ERC-2015-AdG 2016-09-01 - 2021-08-31 - 694209 - VALID
Subjects: [INFO.INFO-SY] Computer Science [cs]/Systems and Control [cs.SY], 0209 industrial biotechnology, Emulation, Sampling (statistics), 02 engineering and technology, Interval (mathematics), Networked Control System NCS, Output regulation, Nonlinear system, 020901 industrial engineering & automation, Transmission (telecommunications), Control theory, Hybrid system, 0202 electrical engineering, electronic engineering, information engineering, Nonlinear systems, [INFO.INFO-SY]Computer Science [cs]/Systems and Control [cs.SY], Symmetric matrix, 020201 artificial intelligence & image processing, Minimum phase, Sampled-data systems, Mathematics
Abstract: International audience; We investigate the semiglobal output regulation of minimum-phase single-input single-output nonlinear systems with sampled measurements. We proceed by emulation. We start by considering a continuous-time regulator, which solves the problem in the absence of sampling. Then, we consider sampled measurements and we model the overall system as a hybrid system. We show that the original continuous-case properties are preserved when the measurements are sampled provided that the maximum allowable transmission interval satisfies a given explicit bound.
Published: 2018

28. Output injection filtering redesign in high-gain observers

Author: Daniele Astolfi, Luca Zaccarian, Marc Jungers, Centre de Recherche en Automatique de Nancy (CRAN), Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS), Équipe Méthodes et Algorithmes en Commande (LAAS-MAC), Laboratoire d'analyse et d'architecture des systèmes (LAAS), Institut National Polytechnique (Toulouse) (Toulouse INP), Université Fédérale Toulouse Midi-Pyrénées-Université Fédérale Toulouse Midi-Pyrénées-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université Toulouse III - Paul Sabatier (UT3), Université Fédérale Toulouse Midi-Pyrénées-Centre National de la Recherche Scientifique (CNRS)-Université Toulouse 1 Capitole (UT1)-Université Toulouse - Jean Jaurès (UT2J)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université Fédérale Toulouse Midi-Pyrénées-Centre National de la Recherche Scientifique (CNRS)-Université Toulouse 1 Capitole (UT1)-Université Toulouse - Jean Jaurès (UT2J), University of Trento [Trento], Region Grand-Est, CaRiTRo, grant PowerLyap, Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées-Université Fédérale Toulouse Midi-Pyrénées-Centre National de la Recherche Scientifique (CNRS)-Université Toulouse III - Paul Sabatier (UT3), Université Fédérale Toulouse Midi-Pyrénées-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université Fédérale Toulouse Midi-Pyrénées-Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées, Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT)-Université de Toulouse (UT)-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Université de Toulouse (UT)-Institut National des Sciences Appliquées (INSA)-Université Toulouse - Jean Jaurès (UT2J), Université de Toulouse (UT)-Université Toulouse III - Paul Sabatier (UT3), Université de Toulouse (UT)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université de Toulouse (UT)-Université Toulouse Capitole (UT Capitole), and Université de Toulouse (UT)
Subjects: 0209 industrial biotechnology, High-gain antenna, Observer (quantum physics), Noise measurement, Computer science, 020208 electrical & electronic engineering, 02 engineering and technology, Filter (signal processing), Dynamical system, Term (time), Noise, 020901 industrial engineering & automation, Control theory, Convergence (routing), 0202 electrical engineering, electronic engineering, information engineering, [INFO.INFO-SY]Computer Science [cs]/Systems and Control [cs.SY]
Abstract: International audience; We propose a new paradigm to redesign high-gain observers in order to improve performances in the presence of measurement noise. In particular, instead of driving the observer by means of a standard output injection term, we filter it with a dynamical system having good filtering properties. In this first preliminary result we also select the filter in order to address numerical challenges.
Published: 2018

29. Stubborn ISS redesign for nonlinear high-gain observers

Author: Luca Zaccarian, Daniele Astolfi, Angelo Alessandri, Centre de Recherche en Automatique de Nancy (CRAN), Centre National de la Recherche Scientifique (CNRS)-Université de Lorraine (UL), Laboratory of Applied Mathematics for Engineering (LAME), Universita degli studi di Genova, Équipe Méthodes et Algorithmes en Commande (LAAS-MAC), Laboratoire d'analyse et d'architecture des systèmes (LAAS), Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées-Université Fédérale Toulouse Midi-Pyrénées-Centre National de la Recherche Scientifique (CNRS)-Université Toulouse III - Paul Sabatier (UT3), Université Fédérale Toulouse Midi-Pyrénées-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université Fédérale Toulouse Midi-Pyrénées-Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées, Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS), Università degli studi di Genova = University of Genoa (UniGe), Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT)-Université de Toulouse (UT)-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Université de Toulouse (UT)-Institut National des Sciences Appliquées (INSA)-Université Toulouse - Jean Jaurès (UT2J), Université de Toulouse (UT)-Université Toulouse III - Paul Sabatier (UT3), Université de Toulouse (UT)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université de Toulouse (UT)-Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT), Institut National Polytechnique (Toulouse) (Toulouse INP), Université Fédérale Toulouse Midi-Pyrénées-Université Fédérale Toulouse Midi-Pyrénées-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université Toulouse III - Paul Sabatier (UT3), Université Fédérale Toulouse Midi-Pyrénées-Centre National de la Recherche Scientifique (CNRS)-Université Toulouse 1 Capitole (UT1)-Université Toulouse - Jean Jaurès (UT2J)-Institut National Polytechnique (Toulouse) (Toulouse INP), and Université Fédérale Toulouse Midi-Pyrénées-Centre National de la Recherche Scientifique (CNRS)-Université Toulouse 1 Capitole (UT1)-Université Toulouse - Jean Jaurès (UT2J)
Subjects: 0209 industrial biotechnology, Engineering, Observer (quantum physics), business.industry, High-Gain Observers, 020208 electrical & electronic engineering, 02 engineering and technology, Stability (probability), Term (time), Nonlinear system, Noise, Variable (computer science), 020901 industrial engineering & automation, Control and Systems Engineering, Control theory, 0202 electrical engineering, electronic engineering, information engineering, [INFO.INFO-SY]Computer Science [cs]/Systems and Control [cs.SY], Transient response, Sensitivity (control systems), business
Abstract: International audience; We propose a stubborn design paradigm for nonlinear high-gain observers, resulting in enforcing a saturation nonlinearity with variable limits on the output injection term. We analyze the input-to-state stability properties of the estimation error dynamics, and we show that the stubborn extension does not lead to a worse bound than the original high-gain design in terms of both peaking and sensitivity to disturbances and measurement noise. We illustrate by simulation that the proposed " stubborn " modification is actually effective at improving the transient response of the observer and the rejection of measurement outliers.
Published: 2017

30. Uniting local and global observers for the state estimation of nonlinear continuous-time systems

Author: Dragan Nesic, Romain Postoyan, Daniele Astolfi, Astolfi, Daniele, ISITE - Isite LUE - - LUE2015 - ANR-15-IDEX-0004 - IDEX - VALID, Centre de Recherche en Automatique de Nancy (CRAN), Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS), Department of Electrical and Electronic Engineering [Melbourne], Melbourne School of Engineering [Melbourne], University of Melbourne-University of Melbourne, ANR-15-IDEX-04-LUE,LUE,Lorraine Université d'Excellence(2016), ANR-15-IDEX-0004,LUE,Isite LUE(2015), and Centre National de la Recherche Scientifique (CNRS)-Université de Lorraine (UL)
Subjects: [INFO.INFO-SY] Computer Science [cs]/Systems and Control [cs.SY], 0209 industrial biotechnology, Observer (quantum physics), Computer science, [SPI] Engineering Sciences [physics], 020208 electrical & electronic engineering, Initialization, observers for nonlinear systems, 02 engineering and technology, Kalman filter, State (functional analysis), local performances, hybrid systems, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Nonlinear system, [SPI]Engineering Sciences [physics], 020901 industrial engineering & automation, [SPI.AUTO] Engineering Sciences [physics]/Automatic, Control theory, Hybrid system, 0202 electrical engineering, electronic engineering, information engineering, [INFO.INFO-SY]Computer Science [cs]/Systems and Control [cs.SY], Initial value problem
Abstract: International audience; Generic techniques are available for the design of local observers for nonlinear continuous-time systems. By local, we mean that the state estimate is guaranteed to converge to the true state, provided its initial value is nearby the plant initial condition. The main drawback of this approach is the right initialization of the observer, which may not be easy in practice. To overcome this potential issue, we propose to combine two observers: a local one, and an other observer, which provides (approximate) estimates but in a global sense, namely for any initial condition. We explain how to combine these two observers with a hybrid scheme guaranteeing global asymptotic convergence. The hybrid observer, called uniting observer, matches the local observer when the initial conditions are nearby the initial conditions of the observed system. We illustrate the proposed approach by means of a numerical example.
Published: 2017

31. Output Regulation via Low-Power Construction

Author: Alberto Isidori, Lorenzo Marconi, and Daniele Astolfi
Subjects: 0209 industrial biotechnology, Observer (quantum physics), Computer science, Internal model, Context (language use), 02 engineering and technology, Power (physics), Nonlinear system, 020901 industrial engineering & automation, Dimension (vector space), Control theory, Backstepping, 0202 electrical engineering, electronic engineering, information engineering, 020201 artificial intelligence & image processing, Design methods
Abstract: The paper deals with the problem of output regulation for the class of nonlinear systems that have a well-defined relative degree and are minimum-phase. The goal is to present a design methodology of the internal model-based regulator that adopts the tools recently proposed in Astolfi and Marconi (IEEE Trans Autom Control 60:3059–3064, 2015) [1] for the design of nonlinear high-gain observers in which the power of the high-gain parameter is raised just up to the order 2 regardless the dimension of the observed system. In this context, we show how to design a high-gain internal model in which the power of the high-gain is raised up to the order two regardless the dimension of the internal model. The same methodology is also used in the dynamic stabilizer in the presence of regulated plants with high relative degree by presenting backstepping and dirty-derivatives observer techniques with limited high-gain power.
Published: 2017
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32. Robust internal model design by nonlinear regression via low-power high-gain observers

Author: Michelangelo Bin, Lorenzo Marconi, Daniele Astolfi, Università di Bologna [Bologna] (UNIBO), Centre National de la Recherche Scientifique (CNRS), Laboratoire d'automatique, de génie des procédés et de génie pharmaceutique (LAGEPP), Université Claude Bernard Lyon 1 (UCBL), Université de Lyon-Université de Lyon-École Supérieure Chimie Physique Électronique de Lyon-Centre National de la Recherche Scientifique (CNRS), Center for Research on Complex Automated Systems (CASY-DEIS), Alma Mater Studiorum Università di Bologna [Bologna] (UNIBO), M. Bin, D. Astofi, L. Marconi, Bin, Michelangelo, Astolfi, Daniele, and Marconi, Lorenzo
Subjects: Output Regulation, 0209 industrial biotechnology, High-gain antenna, 020208 electrical & electronic engineering, Internal model, Control engineering, 02 engineering and technology, High dimensional, Control System, Nonlinear system, 020901 industrial engineering & automation, Control theory, Robustness (computer science), [INFO.INFO-SY]Computer Science [cs]/Systems and Control [cs.SY], 0202 electrical engineering, electronic engineering, information engineering, Control Theory, Nonlinear regression, Mathematics
Abstract: International audience; In this paper we introduce the low-power high-gain observer, developed in [1], to solve problems of output regulation for nonlinear systems. We show how the new tool makes it possible the implementation of high dimensional controllers, that tipically arise when the ideal steady-state control that must be generated to secure zero regulation error is affected by uncertainties.
Published: 2016
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33. Low-power peaking-free high-gain observers for nonlinear systems

Author: Lorenzo Marconi, Daniele Astolfi, and Andrew R. Teel
Subjects: 0209 industrial biotechnology, Nonlinear system, High-gain antenna, Noise, 020901 industrial engineering & automation, Observer (quantum physics), Control theory, 0202 electrical engineering, electronic engineering, information engineering, 020201 artificial intelligence & image processing, 02 engineering and technology, Sensitivity (control systems), Power (physics), Mathematics
Abstract: In this note the low-power observer structure presented in [1] is modified to avoid peaking of the observer state while preserving its good sensitivity properties to measurement noise and the implementation advantages in terms of power-gain with respect to standard high-gain observers.
Published: 2016
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34. A High-Gain Nonlinear Observer With Limited Gain Power

Author: Daniele Astolfi, Lorenzo Marconi, Centre de Recherche en Automatique de Nancy (CRAN), Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS), Center for Research on Complex Automated Systems (CASY-DEIS), Alma Mater Studiorum Università di Bologna [Bologna] (UNIBO), Università di Bologna [Bologna] (UNIBO), Astolfi, Daniele, and Marconi, Lorenzo
Subjects: 0209 industrial biotechnology, Observability, Observer (quantum physics), 02 engineering and technology, Systems and Control (eess.SY), Noise (electronics), 020901 industrial engineering & automation, Dimension (vector space), Observability, nonlinear observers, high-gain observers, Control theory, nonlinear observers, 0202 electrical engineering, electronic engineering, information engineering, FOS: Electrical engineering, electronic engineering, information engineering, [INFO.INFO-SY]Computer Science [cs]/Systems and Control [cs.SY], Sensitivity (control systems), Electrical and Electronic Engineering, Mathematics, Noise measurement, 020208 electrical & electronic engineering, 16. Peace & justice, Computer Science Applications, Power (physics), Nonlinear system, high-gain observers, Control and Systems Engineering, Computer Science - Systems and Control
Abstract: In this note we deal with a new observer for nonlinear systems of dimension n in canonical observability form. We follow the standard high-gain paradigm, but instead of having an observer of dimension n with a gain that grows up to power n, we design an observer of dimension 2n-2 with a gain that grows up only to power 2., 6 pages, 2 figures
Published: 2015
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35. Integral Action in Output Feedback for multi-input multi-output nonlinear systems

Author: Laurent Praly, Daniele Astolfi, Center for Research on Complex Automated Systems (CASY-DEIS), Alma Mater Studiorum Università di Bologna [Bologna] (UNIBO), Centre Automatique et Systèmes (CAS), MINES ParisTech - École nationale supérieure des mines de Paris, Université Paris sciences et lettres (PSL)-Université Paris sciences et lettres (PSL), Università di Bologna [Bologna] (UNIBO), and MINES ParisTech - École nationale supérieure des mines de Paris-PSL Research University (PSL)
Subjects: Output feedback, 0209 industrial biotechnology, Offset (computer science), high-gain observer, 02 engineering and technology, Systems and Control (eess.SY), Nonlinear control, integral action, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Integral action, 020901 industrial engineering & automation, Robustness (computer science), Control theory, 0202 electrical engineering, electronic engineering, information engineering, FOS: Electrical engineering, electronic engineering, information engineering, Observability, Electrical and Electronic Engineering, Mathematics, Equilibrium point, output feedback, Forwarding, semi-global stabilization, 020208 electrical & electronic engineering, ob- servability, uncertain dynamic system, Control engineering, non-minimum phase systems, Computer Science Applications, robust regulation, Nonlinear system, Control and Systems Engineering, Computer Science - Systems and Control, nonlinear control
Abstract: International audience; We address a particular problem of output regulation for multi-input multi-output nonlinear systems. Specifically, we are interested in making the stability of an equilibrium point and the regulation to zero of an output ro- bust to (small) unmodelled discrepancies between design model and actual system in particular those introducing an offset. We propose a novel procedure which is intended to be relevant to realistic scenarios, as illustrated by a (non academic) example.
Published: 2015
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36. Output Feedback Stabilization for SISO Nonlinear Systems with an Observer in the Original Coordinates

Author: Laurent Praly, Daniele Astolfi, Centre Automatique et Systèmes (CAS), MINES ParisTech - École nationale supérieure des mines de Paris-PSL Research University (PSL), CASY - DEI, University of Bologna, MINES ParisTech - École nationale supérieure des mines de Paris, and Université Paris sciences et lettres (PSL)-Université Paris sciences et lettres (PSL)
Subjects: 0209 industrial biotechnology, Observer (quantum physics), 020208 electrical & electronic engineering, 02 engineering and technology, Nonlinear control, Separation principle, Feedback passivation, [SPI.AUTO]Engineering Sciences [physics]/Automatic, 020901 industrial engineering & automation, Control theory, Full state feedback, 0202 electrical engineering, electronic engineering, information engineering, Feedback linearization, State observer, Observability, Mathematics
Abstract: International audience; We address the problem of designing a stabilizing output feedback, via the separation principle. Our aim is to propose a more usable technique. The system can be written in any coordinates and is supposed to be locally uniformly observable. Starting form a known state feedback we do one step of backtepping to have access to the input derivative. This is sufficient to design a high gain observer in the original coordinates that we modify to prevent peaking and constrain the estimated state to remain in the observability domain
Published: 2013
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37. Nonlinear output regulation by post-processing internal model for multi-input multi-output systems

Author: Laurent Praly, Alberto Isidori, Daniele Astolfi, Lorenzo Marconi, Dipartimento di Informatica e Sistemistica 'Antonio Ruberti' (DIS), Università degli Studi di Roma 'La Sapienza' = Sapienza University [Rome], Center for Research on Complex Automated Systems (CASY-DEIS), Alma Mater Studiorum Università di Bologna [Bologna] (UNIBO), Centre Automatique et Systèmes (CAS), MINES ParisTech - École nationale supérieure des mines de Paris, Université Paris sciences et lettres (PSL)-Université Paris sciences et lettres (PSL), Università degli Studi di Roma 'La Sapienza' [Rome], Università di Bologna [Bologna] (UNIBO), and MINES ParisTech - École nationale supérieure des mines de Paris-PSL Research University (PSL)
Subjects: 0209 industrial biotechnology, Asymptotic analysis, 020208 electrical & electronic engineering, Internal model, 02 engineering and technology, General Medicine, Square (algebra), [SPI.AUTO]Engineering Sciences [physics]/Automatic, Matrix (mathematics), Nonlinear system, 020901 industrial engineering & automation, Dimension (vector space), Control theory, Scalability, 0202 electrical engineering, electronic engineering, information engineering, ComputingMilieux_MISCELLANEOUS, Mathematics
Abstract: The paper deals with the problem of output regulation for the class of multi-input multi-output square nonlinear systems satisfying a minimum-phase assumption and a “positivity” condition on the high-frequency gain matrix. By following a design paradigm proposed in [12] for single-input single-output nonlinear systems, it is shown how an internal model-based controller can be obtained, whose dimension depends on the number of regulated outputs and on the dimension of the exosystem. Thanks to a scalability property of the regulator structure highlighted in [10], it is shown how a “pre-processing” internal model can be shifted from input to output, yielding in this way a “post-processing” internal model. This makes it possible to run a high-gain asymptotic analysis that bypasses the need of finding a normal form, as it would normally be the case.
Published: 2013

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