Publications related to Comparison of PI and Adaptive Fuzzy Controllers for Position Tracking of Servo System with Variable Loaded BLDC Motor

Performance and accuracy of cross‐section tracking methods for hydromorphological habitat assessment in wadable rivers with sparse canopy conditions

Giovanni De Cesare, Paolo Perona, Robin Schroff

This article investigates the performance and accuracy of continuous Real-Time Kinematic (RTK) Global Navigation Satellite System (GNSS) position tracking for hydromorphological surveys, based on a comprehensive river restoration monitoring campaign. The a ...

2024

Koopman-based Data-driven Robust Control of Nonlinear Systems Using Integral Quadratic Constraints

Alireza Karimi, Mert Eyuboglu

This paper introduces a novel method for data-driven robust control of nonlinear systems based on the Koopman operator, utilizing Integral Quadratic Constraints (IQCs). The Koopman operator theory facilitates the linear representation of nonlinear system d ...

2024

Stability Analysis of Input-Series/Output-Parallel Solid-State Transformers Equipped with Second-Order Harmonic Active Power Filters

Drazen Dujic, Tianyu Wei, Andrea Cervone

Solid-State Transformers with Input-Series/Output-Parallel configuration offer a convenient solution for AC/DC conversion due to their scalability and modularity. In this configuration, each module experiences a second-order harmonic ripple caused by local ...

2024

Hybrid Quadratic Programming - Pullback Bundle Dynamical Systems Control

Aude Billard, Bernardo Fichera

Dynamical System (DS)-based closed-loop control is a simple and effective way to generate reactive motion policies that well generalize to the robotic workspace, while retaining stability guarantees. Lately the formalism has been expanded in order to handl ...

SPRINGER INTERNATIONAL PUBLISHING AG2023

A Proximal-Point Lagrangian-Based Parallelizable Nonconvex Solver for Bilinear Model Predictive Control

Colin Neil Jones, Yingzhao Lian, Yuning Jiang

Nonlinear model predictive control (NMPC) has been widely adopted to manipulate bilinear systems with dynamics that include products of the inputs and the states. These systems are ubiquitous in chemical processes, mechanical systems, and quantum physics, ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2023

Data-Driven Control and Optimization under Noisy and Uncertain Conditions

Baiwei Guo

Control systems operating in real-world environments often face disturbances arising from measurement noise and model mismatch. These factors can significantly impact the perfor- mance and safety of the system. In this thesis, we aim to leverage data to de ...

EPFL2023

Dynamic control of high-voltage actuator arrays by light-pattern projection on photoconductive switches

Herbert Shea, Amir Firouzeh, Vesna Bacheva, Edouard Franck Vincent Gustave Leroy, Aiste Balciunaite

The ability to control high-voltage actuator arrays relies, to date, on expensive microelectronic processes or on individual wiring of each actuator to a single off-chip high-voltage switch. Here we present an alternative approach that uses on-chip photoco ...

SPRINGERNATURE2023

Dynamic pulse scheduling in ASDEX Upgrade: Disruption avoidance and investigation of the H-Mode density limit

Federico Alberto Alfredo Felici, Alessandro Pau, Bernhard Sieglin

Operation of a tokamak device requires the coordinated operation of a multitude of systems. The sequence of operations during a discharge is both too complex and fast for human interaction. A common way of operation is a predefined sequence of operations w ...

2023

DIET Controller: Dynamic Indoor Environment using Deep Reinforcement Learning

Arnab Chatterjee

Heating, Ventilation, and Air Conditioning (HVAC) Systems utilize much energy, accounting for 40% of total building energy use. The temperatures in buildings are commonly held within narrow limits, leading to higher energy use. Measurements from office bui ...

EPFL2023

Data-driven Methods for Control: from Linear to Lifting

Yingzhao Lian

The progress towards intelligent systems and digitalization relies heavily on the use of automation technology. However, the growing diversity of control objects presents significant challenges for traditional control approaches, as they are highly depende ...

EPFL2023

Data-driven fixed-structure frequency-based H2 and H∞ controller design

Alireza Karimi, Philippe Louis Schuchert, Vaibhav Gupta

The frequency response data of a generalized system is used to design fixed-structure controllers for the H2 and H∞ synthesis problem. The minimization of the two and infinity norm of the transfer function between the exogenous inputs and performance outpu ...

Elsevier BV2024

Increasing the Energy Efficiency of Gas Boosters for Hydrogen Storage and for Refueling Stations

Alfred Rufer

A new electrically driven gas booster is described as an alternative to the classical air-driven gas boosters known for their poor energetic efficiency. These boosters are used in small scale Hydrogen storage facilities and in refueling stations for Hydrog ...

MDPI2023

Indoor Real-time localization system design for Internet of Things applications

Pooneh Mohaghegh

With the prevalence of smartphones, watches, and Internet of Things (IoT) devices, the ability to track their positions is becoming increasingly important. For many indoor positioning systems (IPSs), providing an uninterrupted flow of information in real-t ...

EPFL2023

Training Efficient Controllers via Analytic Policy Gradient

Dario Floreano, Davide Scaramuzza, Valentin Wüest

Control design for robotic systems is complex and often requires solving an optimization to follow a trajectory accurately. Online optimization approaches like Model Predictive Control (MPC) have been shown to achieve great tracking performance, but requir ...

New York2023

Modeling and analysis of miniaturized magnetorheological valve for fluidic actuation

Sofia Lydia Ntella

Fluidic actuation enables movement in a wide range of mechanical systems, from simple laboratory devices to more complex industrial machinery. Fluids are used to generate motion of mechanical pieces. The term "fluids" encompasses two types of technologies: ...

EPFL2023

Model Predictive Control for Multi-Agent Systems under Limited Communication and Time-Varying Network Topology

Melanie Nicole Zeilinger, Danilo Saccani

In control system networks, reconfiguration of the controller when agents are leaving or joining the network is still an open challenge, in particular when operation constraints that depend on each agent's behavior must be met. Drawing our motivation from ...

IEEE2023

Data-driven and Safe Networked Control with Applications to Microgrids

Mustafa Sahin Turan

Today, automatic control is integrated into a wide spectrum of real-world systems such as electrical grids and transportation networks. Many of these systems comprise numerous interconnected agents, perform safety-critical operations, or generate large amo ...

EPFL2022

Torque Computation With the Isogeometric Mortar Method for the Simulation of Electric Machines

Rafael Vazquez Hernandez, Bernard Kapidani

In this work, isogeometric mortaring is used for the simulation of a six-pole permanent magnet synchronous machine. Isogeometric mortaring is especially well suited for the efficient computation of rotating electric machines, as it allows for an exact geom ...

Institute of Electrical and Electronics Engineers2022

Real-Time Nonlinear Model Predictive Control for Fast Mechatronic Systems

Petr Listov

This thesis presents an efficient and extensible numerical software framework for real-time model-based control. We are motivated by complex and challenging mechatronic applications spanning from flight control of fixed-wing aircraft and thrust vector cont ...

EPFL2022

Closed-loop data-driven modeling and distributed control for islanded microgrids with input constraints

Alireza Karimi, Seyed Sohail Madani, Dongdong Zheng

In this paper a new nonlinear identification method for microgrids based on neural networks is proposed. The system identification process can be done using the available closed-loop system input/output data recorded during normal operation without additio ...

PERGAMON-ELSEVIER SCIENCE LTD2022