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## Publications

Publications (118)

This note extends from a theoretical perspective recent results in Economic Model Predictive Control to the case of time-varying cost functionals and terminal constraints. Formal conditions are provided in order to achieve average performance bounds of the closed-loop system under suitable technical assumptions guaranteeing existence of an asymptot...

A novel robust predictive control algorithm is presented for input-saturated uncertain discrete-time linear systems described by structured norm-bounded uncertainties. The solution is based on the minimization, at each time instant, of an LMI convex optimization problem obtained by a recursive use of the S-procedure. Stability and feasibility are p...

In this paper the properties of a class of piecewise continuous systems subject to measurement noise are studied especially regarding their possibility to be stabilized around a whatever vector whitin a finite set of desired stabilization points. Such a problem is a typical control issue in many real systems (vehicles attitude control, robotic mani...

In this paper we propose a novel discrete-time predictive control strategy for the supervision of networked dynamical systems subject to coordination constraints. The approach joins in a unique framework Reference Governor (RG) and Offset Governor (OG) actions. RG units are used to modify the reference to a regulated plant whenever such an applicat...

In this paper we present a coordination strategy for the supervision of networked control systems subject to coordination constraints. Such a system paradigm is characterized by a set of spatially distributed dynamic systems, connected via communication channels, with possibly dynamical coupling and constraints among them which need to be controlle...

A method is presented for designing command governors for discrete-time linear systems under partial state information and in the presence of unknown but bounded input and measurement disturbances. The solution is based on the set-membership state estimation paradigm and hinges upon the state uncertainty tube, viz. the set of all state trajectories...

A receding-horizon strategy is presented for set-point tracking and global stabilization of ANCBI plants in the presence of actuators with position and rate saturation constraints. The algorithm, providing an integral action, is able to handle any piecewise constant disturbance acting on the system output and state.

This paper proposes the application of a distributed command governor (DCG) strategy for the operational control of drinking water networks (DWN). This approach is very suitable to this kind of management problems given the large-scale and complex nature of DWNs, the relevant effect of persistent disturbances (water demands) over the network evolut...

This chapter deals with distributed coordination problems which include the fulfillment of non-convex constraints. A Distributed Command Governor (D-CG) strategy is here proposed to coordinate a set of dynamically decoupled subsystems. The approach results in a receding horizon strategy that requires the computation of mixed-integer optimization pr...

A novel distributed Command Governor (CG) supervision strategy relying on cooperative game theoretical concepts is presented for multi-agent networked systems subject to pointwise-in-time coordination constraints. Unlike non-cooperative distributed CG schemes, here all agents contribute individually to the minimization of a global performance index...

This paper evaluates the application of command governor (CG) strategy for the operational control of drinking water networks (DWN) given their large-scale and complex nature, the permanent and relevant effect of the disturbances (water demands) and their marginal stability feature. Moreover, the performance improvement offered by CG is compared wi...

The paper proposes a novel discretization technique for the design of discrete-time Frequency-Locked-Loop nonlinear (FLL) filters. Continuous-time nonlinear FLL filters have been proposed for their circuital simplicity and ability to provide unbiased estimates of all parameters of a timevarying sinusoidal signal, that is its instantaneous frequency...

A distributed multi-agent supervision strategy (S-CG) based on Command Governor ideas is proposed to solve constrained voltage regulation problems in electrical Medium Voltage (MV) power grids in the presence of Distributed Generation (DG). The idea is that an active management of the set-points of some controllable variables of the grid, e.g. the...

A parellel distributed constrained supervisory strategy for Load/Frequency control problems in networked multi-area power systems is presented. The aim is at proposing a novel coordination strategy that is more effective with respect to the sequential distributed scheme presented in [1]. The proposed method is able to reconfigure, whenever necessar...

A sum-of-squares (SOS) approach is proposed to estimate the domain of attraction (DoA) of regulated nonlinear polynomial time-delay systems subject to input constraints. It will be shown that the joint use of semialgebraic geometric arguments and semidefinite programming methods provides an efficient tool for Lyapunov-based control system analysis...

In this technical note, we present a Receding Horizon Control (RHC) design method for linear parameter varying (LPV) systems subject to input and/or state constraints based on a class of nonlinearly parameterized Lyapunov functions recently introduced by Guerra and Vermeiren. As it will be made clear, their use gives rise to less conservative stabi...

In this paper a novel distributed FeedBack Command Governor (FB-CG) supervision strategy is presented for multi-agent networked systems subject to pointwise-in-time coordination constraints on the overall network evolutions. Specifically, a sequential distributed strategy where only one agent at a time is allowed to manipulate its own reference sig...

A significant amount of energy induced by road unevenness and vehicle roll and pitch motions is usually dissipated by conventional shock absorbers as they dampen their vertical motions. In this paper, a novel multiobjective H∞ control design method is proposed. Besides the usual control objectives for performance, it includes the amount of energy t...

In this paper we present a stochastic strategy for energy-efficient joint sensors selection/information routing in Wireless Sensor Networks with general communication graph topology. Such a scheme generalizes the early stochastic Sensor scheduling approach proposed in [1], [2], where the communication graph was limited to be a tree. The idea is to...

In this paper we present a novel distributed supervision strategy for networks of linear locally regulated and possibly dynamically coupled systems connected via data links and subject to coordination constraints on the evolutions of relevant variables of them. Such a coordination-by-constraint paradigm is accomplished by resorting to a Distributed...

Wireless Sensor Networks (WSNs) enable a wealth of new applications where remote estimation is essential. Individual sensors simultaneously sense a dynamic process and transmit measured information over a shared channel to a central fusion center. The fusion center computes an estimate of the process state by means of a Kalman filter. In this techn...

In this work we focus on mission planning problems in scenarios in which a carrier vehicle, typically slow but with virtually infinite range, and a carried vehicle, which on the contrary is typically fast but has a shorter range, are coordinated to make the faster vehicle visit a given collection of points in minimum time. In particular in this pap...

Wireless Sensor Networks (WSNs) enable a wealth of new applications where remote estimation is essential. Individual sensors simultaneously sense a dynamic process and transmit measured information over a shared channel to a central fusion center. The fusion center computes an estimate of the process state by means of a Kalman filter. In this paper...

In this paper we study the effect of false data injection attacks on state estimation carried over a sensor network monitoring a discrete-time linear time-invariant Gaussian system. The steady state Kalman filter is used to perform state estimation while a failure detector is employed to detect anomalies in the system. An attacker wishes to comprom...

In this paper we present a novel distributed supervision strategy for multi-agent linear systems connected via data networks and sub ject to coordination constraints. Such a coordination-by-constraint paradigm is based on an on-line active set-point management and is characterized by a set of spatially distributed dynamic systems, connected via com...

This paper discusses data-fusion algorithms for computing the “Time-to-Lane-Crossing” (TLC) of a vehicle traveling along a lane on the basis of road images, collected by an on-board video-camera, and kinematic data coming from car sensors. Such algorithms are instrumental to built Lane Departure Warning Systems (LDWS) with enhanced predictive capab...

The problem of deriving efficient automatic gear shifting policies in cars equipped with AMT (Automated Manual Transmission) is investigated in this paper with the aim at minimizing fuel consumption. Two different online gear shifting strategies have been fully analyzed and are here described: (1) E.G.A. (Efficient Gear Actuator), based on the choi...

This paper presents a novel Model Predictive Control strategy for input-saturated nonlinear systems having a polynomial structure. The method is based on algebraic geometry and viability theory arguments for computing the sets of states that can be steered in a finite number of steps, via a general control law, to a given robust positive invariant...

Here we will provide the proofs of the results stated in the Infinite Horizon LQG Control section of [1] by focusing on the control law and the related MARE. The analysis of the observation case can be achieved in a dual way and it is partially covered by [2]. Comment: 8 pages, technical report

In this paper a control strategy based on predictive control ideas is proposed for reconfiguring on-line the on-load tap changer (OLTC) voltage set-point in electrical medium voltage (MV) power grids in the presence of distributed generation (DG). The idea is that an active management of the set-point can be effective for maintaining relevant syste...

We propose a model predictive control (MPC) strategy for input-saturated polytopic linear parameter-varying (LPV) discrete-time systems. Under the hypothesis that the plant parameter is measurable at each time instant, a dilation technique and parameter time-varying Lyapunov functions are exploited to reduce the conservativeness of pre-existing rob...

In this work we concentrate on the problem of path planning in a scenario in which two different vehicles with complementary capabilities are employed cooperatively to perform a desired task in an optimal way. In particular we consider the case in which a vehicle carrier, typically slow but with virtually infinite operativity range, and a carried v...

This paper presents a novel solution to the fault detection and isolation observer design problem for linear time-invariant systems. A gradient flow approach is proposed for synthesizing a residual generator under optimal eigenstructure assignment. This is achieved by minimizing the spectral condition number of the observer eigenvector matrix. The...

In this paper we propose a Fault Detection (FD) filter design method for linear parameter varying (LPV) systems. The FD filter is an optimal H<sub>infin</sub> Luenberger observer synthesized by minimizing frequency conditions which ensure guaranteed levels of disturbance rejection and fault detection. Via the Bounded Real Lemma (BRL) and the Separa...

In this paper we present a supervisory strategy for voltage regulation control problems in electrical power grids based on the Command Governor (CG) approach. The scheme consists of reconfiguring the nominal voltage set-point of the network in the presence of Distributed Generation (DG) units to avoid operative constraint violations in response to...

This paper presents an adaptive actuator allocation scheme that is fault-tolerant with respect to actuator faults and loss of effectiveness. The main idea is to use an ad-hoc online parameter estimator coupled with an allocation algorithm to perform on-line control reconfiguration whenever necessary. A preliminary algorithm is proposed for nonlinea...

New stabilizability conditions for input-saturated multi-model Linear Parameter Varying (LPV) discrete-time systems are proposed. They are obtained by means of a "refinement" of the usual quadratic stabilizability conditions. It is proven that such conditions can be made significantly more tight by a better characterization of the politopic set whi...

This paper is concerned with control applications over lossy data network. Sensor data is transmitted to an estimation-control unit over a network and control commands are issued to subsystems over the same network. Sensor and control packets may be randomly lost according to a Bernoulli process. In this context the discrete-time Linear Quadratic G...

In this paper we present a supervisory strategy for voltage regulation control problems in electrical power grids based on the Command Governor (CG) approach. The scheme consists of reconfiguring the nominal voltage set-point of the network in the presence of Distributed Generation (DG) units to avoid operative constraint violations in response to...

In this paper a fault-detection (1713), filter-design method has been proposed for linear parameter-varying (LPV) systems. The FD filter is an optimal H-infinity Luenberger observer synthesized by minimizing frequency conditions that ensure guaranteed levels of disturbance rejection and fault detection. Via the bounded real lemma (BRL) and the sepa...

In this paper a constrained control strategy based on predictive control ideas is used to regulate the voltage in electrical Medium Voltage (MV) power networks. The aim is to regulate the voltage at certain nodes of the network in the presence of Distributed Generation (DG) units and despite of various changing loads acting as exogenous disturbance...

This paper presents an adaptive actuator allocation scheme that is fault-tolerant with respect to actuator faults and loss of effectiveness. The main idea is to use an ad-hoc online parameter estimator coupled with an allocation algorithm to perform on-line control reconfiguration whenever necessary. A preliminary algorithm is proposed for nonlinea...

In this paper we present a supervisory strategy for load/frequency control problems in networked multi-area power systems based on a recent predictive control approach named parameter governor, which joins in a unique framework reference and offset governor actions. The scheme consists of reconfiguring the nominal frequency set-points and adding of...

This paper proposes a centralized solution to the problem of formation reconflguration and keeping for ∞eets of satellites in the presence of persistent disturbances and under input-saturation and formation accuracy constraints. Relative position and attitude dynamics are considered. For suitable initial conditions the proposed control scheme produ...

This paper presents a new dilated LMI approach to constrained MPC for LPV discrete-time systems. The main idea exploited in the proposed algorithm consists of using both the dilation argument and the direct measure of the LMI parameter at each time step. The effectiveness of the technique is compared to preexisting techniques by means of a numerica...

This paper provides a tutorial overview of a number of aspects and approaches to Control over the Network for Network Control Systems (NCS) that are likely to lead to good fault-tolerant control properties, subject to network faults. In order to analyze and derive the best strategies for fault tolerant NCS, it is initially assumed that the network...

In this paper a constrained control strategy based on predictive control ideas is used to regulate the voltage in electrical Medium Voltage (MV) power networks. The aim is to regulate the voltage at certain nodes of the network in the presence of Distributed Generation (DG) units and despite of various changing loads acting as exogenous disturbance...

In this paper we present a supervisory strategy for load/frequency control problems in networked multi-area power systems. The scheme consists of modifying the nominal frequency set-points and adjusting offsets on the nominal Automatic Load-Frequency Control (ALFC) laws of each area in order to avoid operative constraints violations in response to...

In this paper an extension of the basic Command Governor approach for manipulation of dynamic systems is proposed. This work presents a way to incorporate kinetostatic feedback to the operator maintaining the passivity of the closed-loop system. Preliminary simulation results, without time-delay, are presented showing the theoretically expected eff...

In this paper, we present a predictive strategy for teleoperating through communication channels with unknown and possibly unbounded time delay, a remotely located precompensated plant subject to input and state-related pointwise-in-time constraints. The significance of the method is that it is capable of generating command signals such that, once...

In this paper, we present a discrete-time predictive control strategy for the supervision of networked dynamic systems subject to coordination constraints. Such a network paradigm is characterized by a set of spatially distributed systems, possibly dynamically coupled and connected via communication links, which need to be controlled and coordinate...

A novel predictive control strategy for input- saturated Norm-Bounded LPV discrete-time systems is proposed. The solution is computed by minimizing an upper-bound to the "worst-case" infinite horizon quadratic cost under the constraint of steering the future state evolutions, emanating from the current state, into a feasible and positive invariant...

The performance of embedded system networks is measured in terms of the Quality of Service (QoS) delivered. This concept of QoS, when extended to control functions encompasses all the traditional attributes of control (including reliability, robustness, fault-tolerant control). This has been taken on board by the computer scientists, who have devel...

Optimal H<sub>∞</sub> deconvolution filters robust fault detection of uncertain polytopic linear systems subject to unknown input disturbance are described. The filter must be capable to satisfy two sets of H<sub>∞</sub> constraints: the first is a disturbance attenuation and decoupling requirement whereas the second expresses the capability of the...

An output feedback constrained MPC control scheme for uncertain LFR/Norm-Bounded discrete-time linear systems is discussed. The design procedure consists of an off-line step in which a state-feedback and an asymptotic observer (dynamic primal controller) are designed via BMI optimization and used to robustly stabilize a suitably augmented system. T...

A robust Fault Detection and Isolation (FDI) scheme for uncertain polytopic linear systems based on optimal Hα deconvolution filters is discussed. The filter must be capable to satisfy two sets of Hα constraints: the first is a disturbance-to-fault decoupling requirement, whereas the second expresses the capability of the filter to track the fault...

This paper considers nonlinear predictive control via embedding strategies. A novel robust MPC algorithm for input-saturated uncertain discrete-time linear systems subject to norm-bounded (LFR) model uncertainties is presented and contrasted with direct nonlinear and robust polytopic MPC methods in two final nonlinear examples: a mildly nonlinear t...

In this paper we present a predictive control strategy for teleoperating, through communication channels with unknown and possibly unbounded time-delay, a remotely located robotic system so as to avoid dangerous evolutions or the violation of prescribed operative or safety constraints. In particular, we consider the relevant case of putting bounds...

The purpose of this paper is to exhibit the relevance of command governor (CG) strategies in real control problems, where consideration has to be given to nonlinearities, model uncertainties, disturbances, input and state-related constraints and requirements of moderate computational complexity. The plant considered is a laboratory cart/rod inverte...

This paper provides an implementable and energy efficient solution for the problem of manoeuver control of formations of nano-satellites subject to input-saturation constraints and persistent disturbances. The proposed control scheme is based on a supervisory switching logic which, at any time instant, select the most appropriate controller from a...

In this paper we present a predictive strategy for teleoperating, through communication channels with unknown and possibly unbounded time-delay, a remotely located pre-compensated plant subject to input and state-related pointwise-in-time constraints. In order to demonstrate its effectiveness, a challenging master/slave teleoperating problem over a...

In this paper we present an idle speed controller for automotive GDI engines. The idle speed control problem is formalized as a robust constrained optimal control problem for a hybrid model of the GDI engine. The cost to be minimized is fuel consumption. A sub-optimal robust controller is obtained by using the Command Governor methodology for a dis...

A robust MPC strategy is described for solving set-point problems for a class of nonlinear systems subject pointwise-in-time input and/or state related constraints. The trajectories of the nonlinear system are embedded within those of a linear parameter varying (LPV) uncertain system so that the convex computational paradigm of the LMI optimization...

The idle speed control problem for automotive GDI engines is formalized as a constrained optimal control problem for a hybrid model of the GDI engine, where fuel consumption is the cost function to be minimized. A sub-optimal but effective and easily implementable solution is obtained by resorting to the command governor methodology for a discrete-...

The multiblock l<sub>1</sub>-optimal control problem for single-input single-output (SISO) plants is considered. It is shown that it can be converted via polynomial equation techniques to an infinite-dimensional linear programming (LP) problem. Finite dimensional sub/super approximations can be determined by considering two sequences of modified fi...

A novel robust predictive control algorithm is presented for input-saturated uncertain discrete-time linear systems described by structured norm-bounded uncertainties. The solution is based on the minimization, at each time instant, of a LMI convex optimization problem obtained by a recursive use of the S-procedure. Specific features of this scheme...

A model predictive control (MPC) method based on ellipsoidal calculus is described in order to address the control problems in the presence of state and input constraints for uncertain polytopic linear plants under persistent disturbances. In order to reduce the usually high numerical complexity and conservatism associated to polytopic robust MPC s...

A novel closed-loop model-based predictive control (MPC) strategy
for input-saturated polytopic linear parameter varying (LPV)
discrete-time systems is proposed. It is postulated that the plant
belongs to a polytopic family of linear systems, each member of which
being parameterized by the value that a parameter vector assumes in the
unit simplex....

In this paper we present a predictive control strategy for the supervision of a formation of autonomous vehicles subject to coordination constraints. Such a system paradigm, referred hereafter to as constrained dynamic network, is characterized by a set of spatially distributed dynamic systems, connected via communication channels, with possibly dy...

A novel robust predictive control algorithm for input-saturated uncertain linear discrete-time systems with structured norm-bounded uncertainties is presented. The solution is based on the minimization, at each time instant, of a LMI convex optimization problem obtained by a recursive use of the S-procedure. The general case of N free moves is pres...

This note deals with the exact Fault Detection and Isolation problem. In the case of observer-based residual generation, the problem amounts to find two gain matrices such that the two problems are simultaneously solved. It is known that the freedom in eigenstructure assignment leads to well-conditioned design which is robust to unstructured uncert...

In this paper we present a predictive control strategy for the supervision of networked multi-vehicle systems subject to coordination constraints. Such a constrained dynamic network paradigm is characterized by a set of spatially distributed dynamic systems, connected via communication channels and with possibly dynamic coupling amongst them, which...

Model predictive control strategies are described for solving set-point problems for nonlinear systems when pointwise-in-time input and/or state related inequality constraints have to be fulfilled. The trajectories of the nonlinear system are embedded within those of an auxiliary norm-bounded uncertain linear system in order to use simpler computat...

In this paper we present a predictive control strategy for the supervision of networked dynamic systems subject to coordination constraints. Such a dynamic system paradigm is characterized by a set of spatially distributed dynamic systems, possibly dynamically coupled and connected via communication channels, which need to be controlled and coordin...

Monotonicity properties of suboptimal H<sub>∞</sub> or
minimax control are established and exploited so as to develop a
suitable state-feedback switching logic for regulating input-saturated
linear plants in the presence of arbitrary l<sub>2</sub>-disturbances.
If the plant is asymptotically null controllable with bounded inputs,
the scheme is show...

A novel optimal receding horizon control strategy for input
saturated linear time-varying (LTV) discrete-time systems with polytopic
model uncertainties when the actual realization of the uncertain
parameter is known and when bounded rate uncertain parameter variations
are present, is proposed. The approach is based, on the updating at each
step, i...

An analysis is presented on the feasibility issue in command governor (CG) control with deterministic set-membership state estimators for determining the state uncertainty set (SUS), viz. the set of all states which are compatible with measurements and a priori knowledge on the system. It is shown that the recipe of modifying standard receding hori...

A novel optimal receding horizon control strategy for input saturated linear time-varying (LTV) discrete-time systems with polytopic model uncertainties when the actual realization of the uncertain parameter is known and when bounded rate uncertain parameter variations are present, is proposed. The approach is based, on the updating at each step, i...

In this paper, the MIMO multi-block l 1 -optimal control problem is considered. It is shown that it can be converted via polynomial equation techniques to an infinite dimensional linear programming (LP) problem. Finite dimensional sub/super approximations can be determined by considering two sequences of modified finite dimensional linear programmi...

Robust command governors are designed for discrete-time linear time-variant (LTV) systems with polytopic uncertainty models and subject to unknown bounded disturbances and pointwise-in-time input and state-related constraints.

A predictive control strategy is presented for set-point tracking
and global stabilization of ANCBI plants in the presence of actuators
with position and rate saturation constraints and without full state
accessibility. It is shown that the same properties achievable in the
case of full state availability can be recovered by using a deadbeat
observ...

The purpose of the paper is to demonstrate the synergetic ability
of linear control techniques plus command governor strategies to
effectively handle difficult real control problems. The plant considered
in the paper is a laboratory cart/rod inverted pendulum and the problem
consists of its wide-range stabilization under constraints on the motor
vo...

A predictive regulator is described for stabilizing linear plants
subject to polyhedral input constraints. While the asymptotic stability
of general linear plants is ensured subject to a set-membership
condition on the initial state, global asymptotic and semiglobal
exponential regulation is achieved for input-saturated plants which are
asymptotica...

Two command governors (CG) are described for solving set-point tracking problems for nonlinear systems when pointwise-in-time input and/or state related inequality constraints have to be fulfilled. A CG is a nonlinear device which is added to a primal compensated system. The CG action, based on the current state, set-point and prescribed constraint...

A robust predictive controller for input-saturated LTV
discrete-time systems with polytopic model uncertainties is presented.
The solution is based on the minimization, at each time instant, of an
upper-bound of the “worst-case” infinite horizon quadratic
cost under the constraint of steering the set-valued future state
evolutions emanating from th...

A supervision scheme, denoted hereafter to as a Command Governor (CG), is presented for on-line handling the reference signal to be applied to a compensated control system in order to enforce pointwise-in-time input and/or staterelated constraints. A CG is basically a memoryless nonlinear device which, on the base of current plant state and referen...

This paper shows how to modify a recently introduced reference governor (RG) scheme, when its computational time is comparable to or greater than the sampling period. It is shown that all relevant RG properties still hold true in the presence of a significant computational delay, although a tracking performance degradation may occur. Simulation res...

The problem of constrained control of linear plants is addressed.
Some algorithms are proposed that ensure constraints fulfilment and
set-point tracking through a nonlinear filtering action performed on the
reference signal. An application to a DC motor is presented to clarify
the proposed solutions and illustrate their effectiveness in practice

A predictive control scheme based on a blend of receding-horizon plus switching-control ideas is presented for regulating linear plants subject to input saturation constraints. While only local asymptotic regulation can be ensured in general, semi-global exponential regulation is achieved for linear plants which are free of exponentially unstable m...

A predictive regulator is described for stabilizing linear plants
subject to input-saturation constraints. While asymptotic stability of
general linear plants is ensured subject to a set-membership condition
on the initial state, global exponential regulation is achieved in the
presence of input saturations for plants which are asymptotically null...

This paper presents a globally stabilizing control strategy for
LTI asymptotically null-controllable with bounded-inputs (ANCBI)
discrete-time linear systems in the presence of input-saturation and
arbitrary l<sub>2</sub> state disturbances. The class of linear ANCBI
plants consists of all dynamic linear systems without exponentially
unstable modes...