We present a novel method of optimal robust control through quadratic programs that offers
tracking stability while subject to input and state-based constraints as well as safety-critical …

This paper presents the first steps toward unifying locomotion controllers and algorithms with
whole-body control and manipulation. A theoretical framework for this unification will be …

In process industries, closed-loop step and closed-loop relay feedback tests are popularly
used for estimating model parameters. In this paper, different methods available in the …

The integration of production management and process control decisions is critical for
improving economic performance of the chemical supply chain. A novel framework for …

Recent work on control Lyapunov functions and control Barrier functions has enabled
addressing stability of nonlinear and underactuated hybrid systems while simultaneously …

We present an energy storage controller synthesis method for power systems with respect to
metric temporal logic (MTL) specifications. The power systems with both constant …

This article aims at a new partial least squares (PLS) control design and analysis in a data-
driven framework for nonlinear multivariable processes whose mechanistic models are …

A new approach to the minimum-energy design of stochastic inverse model control-oriented
predictive control algorithms dedicated to the multivariable physical systems is proposed in …

This paper deals with the synthesis of a novel internal multimodel control designed for
nonlinear overactuated systems. The multimodel approach is proposed to deal with system …

The advent of easy access to large amount of data has sparked interest in directly
developing the relationships between input and output of dynamic systems. A challenge is …