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78 results on '"Daniele Astolfi"'

21. About Robustness of Control Systems Embedding an Internal Model

Author

Michelangelo Bin, Daniele Astolfi, and Lorenzo Marconi

Subjects
Optimization and Control (math.OC), Control and Systems Engineering, FOS: Electrical engineering, electronic engineering, information engineering, FOS: Mathematics, Systems and Control (eess.SY), Electrical and Electronic Engineering, Electrical Engineering and Systems Science - Systems and Control, Mathematics - Optimization and Control, Computer Science Applications
Abstract

Robustness is a basic property of any control system. In the context of linear output regulation, it was proved that embedding an internal model of the exogenous signals is necessary and sufficient to achieve tracking of the desired reference signals in spite of external disturbances and parametric uncertainties. This result is commonly known as "internal model principle". A complete extension of such linear result to general nonlinear systems is still an open problem, which is exacerbated by the large number of alternative definitions of uncertainty and desired control goals that are possible in a nonlinear setting. In this paper, we develop a general framework in which all these different notions can be formally characterized in a unifying way. Classical results are reinterpreted in the proposed setting, and new results and insights are presented with a focus on robust rejection/tracking of arbitrary harmonic content. Moreover, we show by counter-example that, in the relevant case of continuous unstructured uncertainties, there are problems for which no smooth finite-dimensional robust regulator exists ensuring exact regulation., updated version 04.2021

Published
2023

25. 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

31. Infinite gain margin, contraction and optimality: an LMI-based design

Author

Mattia Giaccagli, Vincent Andrieu, Sophie Tarbouriech, 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 de Chimie Physique Électronique de Lyon (CPE)-Centre National de la Recherche Scientifique (CNRS), 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), and Université de Toulouse (UT)

Subjects
General Engineering, [INFO.INFO-SY]Computer Science [cs]/Systems and Control [cs.SY]
Abstract

International audience; In this paper we focus on nonlinear systems composed by a linear term plus a nonlinearity satisfying a monotonic or a sector bound condition. We present sufficient conditions based on LMIs for the design of a feedback control law possessing an infinite gain margin property that makes the closed-loop system to define a contraction. Then, we analyze the connection between infinite gain margin contractive feedbacks and optimization problems by showing how such an infinite gain control design minimizes a given cost function. A practical case of study is given to illustrate our results.

Published
2022

32. 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

33. 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

34. 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

35. 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

36. LMI-Based Stubborn and Dead-Zone Redesign in Linear Dynamic Output Feedback

Author

Sophie Tarbouriech, Angelo Alessandri, Daniele Astolfi, Luca Zaccarian, 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), Università degli studi di Genova = University of Genoa (UniGe), 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), University of Trento [Trento], and ANR-18-CE40-0010,HANDY,Systèmes Dynamiques Hybrides et en Réseau(2018)

Subjects
Control and Optimization, sector conditions, Noise measurement, Linear matrix inequalities, Linear systems, Vehicle dynamics, Saturation, Output feedback, Symmetric matrices, Control and Systems Engineering, dead-zone, [INFO.INFO-SY]Computer Science [cs]/Systems and Control [cs.SY], Observers, LMI
Abstract

International audience; The redesign of output feedback controllers for linear systems based on adaptive saturation (stubborn) and dead-zone redesign is investigated by showing that input-to-state stability holds in closed loop upon the satisfaction of linear matrix inequalities. Such results are obtained by using sector conditions that are involved in the Lyapunov analysis in order to ensure input-to-state stability. A simulation case study shows the effectiveness of the proposed redesign in denoising and outlier attenuation with increased accuracy and precision.

Published
2022

37. 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

38. 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

39. 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

40. 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

41. 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

42. 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

43. 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

44. 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

46. 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

47. 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

48. 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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49. 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

50. Observer design via interconnections of second-order mixed sliding-mode/linear differentiators

Author

Vincent Andrieu, Daniele Astolfi, Pauline Bernard, 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), Centre Automatique et Systèmes (CAS), MINES ParisTech - École nationale supérieure des mines de Paris, and Université Paris sciences et lettres (PSL)-Université Paris sciences et lettres (PSL)

Subjects
Homogeneity, [MATH.MATH-OC]Mathematics [math]/Optimization and Control [math.OC], Sliding mode observers, High-gain observers, [SPI.AUTO]Engineering Sciences [physics]/Automatic
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 globally bounded nonlinear-ities, high-gain linear techniques can deal with globally Lipschitz nonlinearities. To gain in generality and avoid the usual assumption that the plant's solutions are bounded with known bound, we propose here to mix both designs in the more general case where the nonlinearities satisfy a global incremental affine bound. We inspire from the recently-developed low-power high-gain observer technique, which relies on the interconnection of several second order high-gain observers. Adding sliding-mode correction terms into this low-power structure enables to guarantee global convergence of the estimation error in finite-time with gains depending only on the parameters of the incremental affine bound of the nonlinearities. The estimation error is also proved to be uniformly stable along solutions starting from any compact sets of initial conditions.

Published
2020

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