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346 results on '"Zaccarian, L"'

2. A hybrid predictive control algorithm for tracking in a single-phase DC/AC inverter

Author

Torquati, L, Sanfelice, RG, and Zaccarian, L

Abstract

In this paper we design a hybrid predictive controller for the tracking of a sinusoidal reference signal. The stability and forward invariance of a set of points around the reference state, named the tracking ellipse, is established by using tools for hybrid dynamical systems. Moreover, prediction of solutions for a finite number of switching events is used to minimize the number of switches. The control algorithm is shown to be robust to small perturbations and input disturbances. Simulations illustrating the main results are included.

Published
2017

7. Relating the Network Graphs of State-Space Representations to Granger Causality Conditions

Author

Postoyan, R, Frasca, P, Panteley, E., Zaccarian, L., Józsa, Mónika, Petreczky, Mihály, Camlibel, M. Kanat, Postoyan, R, Frasca, P, Panteley, E., Zaccarian, L., Józsa, Mónika, Petreczky, Mihály, and Camlibel, M. Kanat

Abstract

In this chapter, we will discuss the problem of estimating theNetworkgraphs network graphsGraphnetwork graphs of state-space representations based on observed data: we observe the output generated by each node of a network of state-space representations, and we would like to reconstruct the communication graph of the network, i.e., we would like to find out which nodes exchange information. The potential exchange of information is not assumed to be observable, i.e., it may take place via hidden internal states. We present an approach based on the notion of Granger causalityGranger causality. The essence of this approach is that there exists a communication link between two nodes, if the outputs generated by the corresponding nodes are related by Granger causalityGranger causality. More precisely, we show an equivalence between the existence of state-space representation in which subsystems corresponding to certain nodes exchange information, and the presence of Granger causalityGranger causality relation between the outputs generated by those subsystems. Since Granger causalityGranger causality can be checked based on observed data, these results open up the possibility of data-driven reverse engineering of the communication graph. We will discuss the case of stochastic linear time-invariant systems, and then the case of stochastic bilinear/LPV/switched systems.

Published
2024

8. Data-Driven Stabilization of Nonlinear Systems via Taylor’s Expansion

Author

Postoyan, R, Frasca, P, Panteley, E, Zaccarian, L., Guo, Meichen, De Persis, Claudio, Tesi, Pietro, Postoyan, R, Frasca, P, Panteley, E, Zaccarian, L., Guo, Meichen, De Persis, Claudio, and Tesi, Pietro

Abstract

Lyapunov’s indirect methodLyapunovindirect method is one of the oldest and most popular approaches to model-based controller design for nonlinear systemsNonlinearsystem. When the explicit model of the nonlinear systemNonlinearsystem is unavailable for designing such a linear controller, finite-length off-line data is used to obtain a data-based representation of the closed-loop system, and a data-driven linear control law is designed to render the considered equilibrium locally asymptotically stable. This work presents a systematic approach for data-driven linear stabilizer design for continuous-time and discrete-time general nonlinear systemsNonlinearsystem. Moreover, under mild conditions on the nonlinear dynamics, we show that the region of attractionRegion of attraction of the resulting locally asymptotically stable closed-loop system can be estimated using data.

Published
2024

18. Hybrid Control of Self-Oscillating Resonant Converters

Author

Universitat Rovira i Virgili, Zaupa, N; Martínez-Salamero, L; Olalla, C; Zaccarian, L, Universitat Rovira i Virgili, and Zaupa, N; Martínez-Salamero, L; Olalla, C; Zaccarian, L

Abstract

We describe parallel and series resonant converters (PRC and SRC) via a unified set of input-dependent coordinates whose dynamics are intrinsically hybrid. We then propose hybrid feedback showing a self-oscillating behavior whose amplitude and frequency can be adjusted by a reference input ranging from zero to $\pi$ . For any reference value in that range, we give a Lyapunov function certifying the existence of a unique nontrivial hybrid limit cycle whose basin of attraction is global except for the origin. Our results are confirmed by experimental results on an SRC prototype.

Published
2023

21. Data-driven control of input saturated systems: a LMI-based approach

Author

Porcari, F., Breschi, V., Zaccarian, L., and Formentin, S.

Abstract

This paper addresses three complex control challenges related to input-saturated systems from a data-driven perspective. Unlike the traditional two-stage process involving system identification and model-based control, the proposed approach eliminates the need for an explicit model description. The method combines data-based closed-loop representations, Lyapunov theory, instrumental variables, and a generalized sector condition to formulate data-driven linear matrix inequalities (LMIs). These LMIs are applied to maximize the origin’s basin of attraction, minimize the closed-loop reachable set with bounded disturbances, and introduce a new data-driven ℓ2-gain minimization problem. Demonstrations on benchmark examples highlight the advantages and limitations of the proposed approach compared to an explicit identification of the system, emphasizing notable benefits in handling nonlinear dynamics.

Published
2024
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29. Two-degree-of-freedom Robust Feedback Control of a Sliding Gate Automation

Author

Cunico, D, Cenedese, A, Zaccarian, L, Borgo, M, Department of Information Engineering [Padova] (DEI), Università degli Studi di Padova = University of Padua (Unipd), 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), and BFT SpA

Subjects
Linear Matrix Inequalities, Trajectory Tracking, Industrial Motion Control, Robust Control, [SPI.AUTO]Engineering Sciences [physics]/Automatic
Abstract

International audience; A control strategy consisting of a feedforward action and a robust feedback for a gate automation is presented, where a low-cost and non-regenerative motor drive is used. A model of the system is developed and feedback linearization is used to compensate for the highly nonlinear dynamics of the electric drive. To achieve good motion tracking performance we design a smooth reference associated with a feedforward action, based on the nominal model of the system. In addition, based on a model of the uncertainties a robust feedback controller is tuned by solving a set of linear matrix inequalities, combining the optimization of a LQR cost with some pole placement constraints. Finally, we test the proposed control strategy on an experimental device, obtaining satisfactory results.

Published
2022
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40. Real-time reconstruction of plasma equilibrium in FTU

Author

Sadeghi, Y., Ramogida, G., Boncagni, L., D'Epifanio, C., Vitale, V., Crisanti, F., and Zaccarian, L.

Subjects
Magnetic fields -- Analysis, Magnetic flux -- Measurement, Plasma physics -- Research, Real-time control -- Usage, Real-time systems -- Usage, Tokamaks -- Design and construction, Real-time system, Business, Chemistry, Electronics, Electronics and electrical industries
Published
2010

41. Localization from inertial data and sporadic position measurements

Author

Sferlazza A., Zaccarian L., Garraffa G., D'Ippolito F., Sferlazza A., Zaccarian L., Garraffa G., and D'Ippolito F.

Subjects
Hybrid systems, Localization, Sampled data observer, Sporadic measurements
Abstract

A novel estimation strategy for inertial navigation in indoor/outdoor environments is proposed with a specific attention to the sporadic nature of the non-periodic measurements. After introducing the inertial navigation model, we introduce an observer providing an asymptotic estimate of the plant state. We use a hybrid dynamical systems representation for our results, in order to provide an effective, and elegant theoretical framework. The estimation error dynamics with the proposed observer shows a peculiar cascaded interconnection of three subsystems (allowing for intuitive gain tuning), with perturbations occurring either on the jump or on the flow dynamics (depending on the specific subsystem under consideration). For this structure, we show global exponential stability of the error dynamics. Hardware-in-the-loop results confirm the effectiveness of the proposed solution.

Published
2020

43. Open source real-time operating systems for plasma control at FTU

Author

Centioli, C., Iannone, F., Mazza, G., Panella, M., Pangione, L., Vitale, V., and Zaccarian, L.

Subjects
Tokamaks -- Research, Operating systems -- Usage, Public software -- Research, 32-bit operating system, 64-bit operating system, Operating system, Open source software, Business, Electronics, Electronics and electrical industries
Abstract

Nowadays, every tokamak has a plasma control system to monitor and drive discharge parameters like position, density, current, and shape. Several different solutions have been adopted to cope with the real-time constraints, ranging from the shared memory to the transputers technologies. At present, a VME/PPC604r embedded controller running a LynxOS operating system is used on Frascati Tokamak Upgrade (FTU) for the plasma position control, with a response time of about 150 [micro]s. In this paper, a report of the tests carried out using the open source Linux real-time operating system RTAI on a VME/INTELx86 embedded controller will be presented, in order to evaluate the replacement of the existing expensive commercial solution for the plasma control system. To this aim, the plasma position control software has been ported on the open source platform. Moreover, the performance of the two real-time operating systems will be compared, both at system level and at application level. The comparison will show that the open source real-time operating system is a good alternative to the commercial product and, because of its hard real-time features, it is a well-guaranteed platform for our plasma control system software. Index Terms--Open source systems, plasma control, real time systems.

Published
2004

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