Pub Date : 2026-01-01DOI: 10.1016/j.ejcon.2025.101409
Cong Toai Truong , Trung Dat Phan , Van Tu Duong , Huy Hung Nguyen , Tan Tien Nguyen
This study introduces a novel hybrid control strategy for bag-valve-mask ventilator (BVMV) operating in volume-controlled continuous mandatory ventilation (VCCMV) mode, targeting challenges related to tidal volume regulation, system uncertainties, and variability in airway resistance and lung compliance. Specifically, the control strategy comprises three sub-controllers for governing state transitions, respiratory pacing, and precise tidal volume tracking. These strategies were rigorously tested through hardware-in-the-loop simulations and experimental test validations. The control system effectively tracks both parabolic and sinusoidal reference waveforms, achieving tidal volume errors consistently below 5 %. Experimental results from 24 lung model configurations with airway resistance () ranging from 5 to 50 and lung compliance () varying from 0.01 to 0.1 , demonstrate the system’s robustness and adaptability. Furthermore, the BVMV successfully adjusts to changing respiratory parameters, including tidal volume variations from 350 to 500 , respiration rates from 10 to 15 , and inspiratory-to-expiratory ratios from 1:4 to 1:2, while maintaining tidal volume accuracy under varying dynamics. The proposed framework ensures reliable operation with minimal steady-state error, offering a practical and cost-effective mechanical ventilation solution for resource-constrained environments.
针对潮汐量调节、系统不确定性以及气道阻力和肺顺应性的可变性等方面的挑战，本研究提出了一种新的袋阀面罩呼吸机（BVMV）在容积控制连续强制通气（VCCMV）模式下运行的混合控制策略。具体来说，该控制策略包括三个子控制器，分别用于控制状态转换、呼吸起搏和精确潮汐量跟踪。这些策略通过硬件在环仿真和实验测试验证进行了严格的测试。控制系统有效地跟踪抛物线和正弦参考波形，使潮汐体积误差始终低于5%。气道阻力(R)在5 ~ 50 cmh2o s范围内的24种肺模型构型的实验结果。l−1和肺顺应性(C)在0.01 ~ 0.1 l. cmh2o−1之间变化，证明了系统的鲁棒性和适应性。此外，BVMV成功地适应了不断变化的呼吸参数，包括潮汐量从350ml到500ml的变化，呼吸速率从10bpm到15bpm，吸气呼气比从1:4到1:2，同时在不同的动力学下保持潮汐量的准确性。所提出的框架确保了可靠的运行和最小的稳态误差，为资源受限的环境提供了实用和经济的机械通风解决方案。
{"title":"L1 Adaptive control for a low-cost bag-valve-mask ventilator in volume-controlled continuous mandatory ventilation mode: Design, simulation and experiment","authors":"Cong Toai Truong , Trung Dat Phan , Van Tu Duong , Huy Hung Nguyen , Tan Tien Nguyen","doi":"10.1016/j.ejcon.2025.101409","DOIUrl":"10.1016/j.ejcon.2025.101409","url":null,"abstract":"<div><div>This study introduces a novel hybrid control strategy for bag-valve-mask ventilator (BVMV) operating in volume-controlled continuous mandatory ventilation (VC<img>CMV) mode, targeting challenges related to tidal volume regulation, system uncertainties, and variability in airway resistance and lung compliance. Specifically, the control strategy comprises three sub-controllers for governing state transitions, respiratory pacing, and precise tidal volume tracking. These strategies were rigorously tested through hardware-in-the-loop simulations and experimental test validations. The control system effectively tracks both parabolic and sinusoidal reference waveforms, achieving tidal volume errors consistently below 5 %. Experimental results from 24 lung model configurations with airway resistance (<span><math><mi>R</mi></math></span>) ranging from 5 to 50 <span><math><mrow><mi>c</mi><mi>m</mi><msub><mi>H</mi><mn>2</mn></msub><mi>O</mi><mo>.</mo><mi>s</mi><mo>.</mo><msup><mrow><mi>l</mi></mrow><mrow><mo>−</mo><mn>1</mn></mrow></msup></mrow></math></span> and lung compliance (<span><math><mi>C</mi></math></span>) varying from 0.01 to 0.1 <span><math><mrow><mi>l</mi><mo>.</mo><mi>c</mi><mi>m</mi><msub><mi>H</mi><mn>2</mn></msub><msup><mrow><mi>O</mi></mrow><mrow><mo>−</mo><mn>1</mn></mrow></msup></mrow></math></span>, demonstrate the system’s robustness and adaptability. Furthermore, the BVMV successfully adjusts to changing respiratory parameters, including tidal volume variations from 350<span><math><mrow><mspace></mspace><mi>m</mi><mi>l</mi></mrow></math></span> to 500 <span><math><mrow><mi>m</mi><mi>l</mi></mrow></math></span>, respiration rates from 10 <span><math><mrow><mi>b</mi><mi>p</mi><mi>m</mi></mrow></math></span> to 15 <span><math><mrow><mi>b</mi><mi>p</mi><mi>m</mi></mrow></math></span>, and inspiratory-to-expiratory ratios from 1:4 to 1:2, while maintaining tidal volume accuracy under varying dynamics. The proposed framework ensures reliable operation with minimal steady-state error, offering a practical and cost-effective mechanical ventilation solution for resource-constrained environments.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"87 ","pages":"Article 101409"},"PeriodicalIF":2.6,"publicationDate":"2026-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145977323","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2026-01-01DOI: 10.1016/j.ejcon.2025.101444
José Raimundo de Oliveira Jr. , Bismark Claure Torrico , Felipe José de Sousa Vasconcelos , Fabrício Gonzalez Nogueira , Tito Luís Maia Santos
This article proposes a predictor based on a reduced-order functional extended state observer (FESO) for linear time-invariant (LTI) systems with input delay. A disturbance model is defined based on the types of disturbances to be rejected at steady state, such as sinusoidal, step-like, ramp-like, as well as higher-order polynomials, which are commonly found in practical applications. Thereafter, an FESO is designed to estimate both the delayed unmeasured process and disturbance states, which, along with the measured states, are used by the predictor to compensate the time delay, and then a finite spectrum assignment (FSA) state-feedback controller is computed based on the delay-free model. The tuning of the predictor is proposed for two disturbance rejection scenarios, the first focusing on the prediction error performance and the second on closed-loop robustness. Simulation results show better performance of the proposed predictor compared to recent methods in the literature. Additionally, frequency-domain analyses are provided to further validate its robustness and performance characteristics, as well as the influence of measurement noise.
{"title":"Reduced-order FESO-based predictor for time-delay LTI systems","authors":"José Raimundo de Oliveira Jr. , Bismark Claure Torrico , Felipe José de Sousa Vasconcelos , Fabrício Gonzalez Nogueira , Tito Luís Maia Santos","doi":"10.1016/j.ejcon.2025.101444","DOIUrl":"10.1016/j.ejcon.2025.101444","url":null,"abstract":"<div><div>This article proposes a predictor based on a reduced-order functional extended state observer (FESO) for linear time-invariant (LTI) systems with input delay. A disturbance model is defined based on the types of disturbances to be rejected at steady state, such as sinusoidal, step-like, ramp-like, as well as higher-order polynomials, which are commonly found in practical applications. Thereafter, an FESO is designed to estimate both the delayed unmeasured process and disturbance states, which, along with the measured states, are used by the predictor to compensate the time delay, and then a finite spectrum assignment (FSA) state-feedback controller is computed based on the delay-free model. The tuning of the predictor is proposed for two disturbance rejection scenarios, the first focusing on the prediction error performance and the second on closed-loop robustness. Simulation results show better performance of the proposed predictor compared to recent methods in the literature. Additionally, frequency-domain analyses are provided to further validate its robustness and performance characteristics, as well as the influence of measurement noise.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"87 ","pages":"Article 101444"},"PeriodicalIF":2.6,"publicationDate":"2026-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145926232","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2026-01-01DOI: 10.1016/j.ejcon.2025.101439
Xin Chen , Liu He , Kang-Zhi Liu , Bo Zhang
Forward uncertain difference equations and backward stochastic difference equations are two distinct types of dynamic systems. The former is based on uncertainty theory, while the latter is formulated within probability theory. This paper investigates optimal control problems involving both types of equations. By relationships among uncertain expectation, probabilistic expectation, and chance expectation, we develop the framework of chance theory to handle uncertain stochastic optimal control problems of such hybrid systems. Using an equivalent transformation method, we convert the problems into deterministic difference equations solving problems. We then derive analytical solutions for three types of optimal control problems through backward induction. Furthermore, we explore the impact of different computation orders of uncertain and probabilistic expectations. Numerical examples are provided to illustrate key differences and demonstrate the effectiveness of the proposed method.
{"title":"Uncertain stochastic optimal control problems based on backward stochastic difference equations and forward uncertain difference equations","authors":"Xin Chen , Liu He , Kang-Zhi Liu , Bo Zhang","doi":"10.1016/j.ejcon.2025.101439","DOIUrl":"10.1016/j.ejcon.2025.101439","url":null,"abstract":"<div><div>Forward uncertain difference equations and backward stochastic difference equations are two distinct types of dynamic systems. The former is based on uncertainty theory, while the latter is formulated within probability theory. This paper investigates optimal control problems involving both types of equations. By relationships among uncertain expectation, probabilistic expectation, and chance expectation, we develop the framework of chance theory to handle uncertain stochastic optimal control problems of such hybrid systems. Using an equivalent transformation method, we convert the problems into deterministic difference equations solving problems. We then derive analytical solutions for three types of optimal control problems through backward induction. Furthermore, we explore the impact of different computation orders of uncertain and probabilistic expectations. Numerical examples are provided to illustrate key differences and demonstrate the effectiveness of the proposed method.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"87 ","pages":"Article 101439"},"PeriodicalIF":2.6,"publicationDate":"2026-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145884629","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2025-12-29DOI: 10.1016/j.ejcon.2025.101438
Mohammed Yousri Silaa , Aissa Bencherif , Oscar Barambones
Ensuring precise trajectory tracking while minimizing chattering and maintaining robustness is a major challenge in robotic arm control. Traditional sliding mode controllers often suffer from high-frequency oscillations (chattering), which can lead to actuator wear, energy inefficiency, and system instability. To address this issue, this paper presents a novel control strategy based on a sliding mode controller with a quick power-reaching law (SMCQPRL). The proposed SMCQPRL enhances robustness, minimizes chattering, and ensures fast and accurate trajectory tracking. To validate its effectiveness, the SMCQPRL is systematically compared with conventional sliding mode control (SMC) and the super-twisting algorithm (STA), both optimized using the grey wolf optimizer (GWO). Numerical simulations show that SMCQPRL achieves RMSE values of 0.13368 and 0.1247 for θ1 and θ2, respectively, outperforming STA (0.1813, 0.1953) and SMC (0.24505, 0.29112), while also demonstrating substantial chattering reduction and improved robustness. The stability of the SMCQPRL is rigorously established using Lyapunov theory, confirming its suitability for real-world robotic applications.
{"title":"Robot arm manipulator trajectory tracking using novel sliding mode control based quick power reaching law enhanced by grey wolf optimizer","authors":"Mohammed Yousri Silaa , Aissa Bencherif , Oscar Barambones","doi":"10.1016/j.ejcon.2025.101438","DOIUrl":"10.1016/j.ejcon.2025.101438","url":null,"abstract":"<div><div>Ensuring precise trajectory tracking while minimizing chattering and maintaining robustness is a major challenge in robotic arm control. Traditional sliding mode controllers often suffer from high-frequency oscillations (chattering), which can lead to actuator wear, energy inefficiency, and system instability. To address this issue, this paper presents a novel control strategy based on a sliding mode controller with a quick power-reaching law (SMCQPRL). The proposed SMCQPRL enhances robustness, minimizes chattering, and ensures fast and accurate trajectory tracking. To validate its effectiveness, the SMCQPRL is systematically compared with conventional sliding mode control (SMC) and the super-twisting algorithm (STA), both optimized using the grey wolf optimizer (GWO). Numerical simulations show that SMCQPRL achieves RMSE values of 0.13368 and 0.1247 for <em>θ</em><sub>1</sub> and <em>θ</em><sub>2</sub>, respectively, outperforming STA (0.1813, 0.1953) and SMC (0.24505, 0.29112), while also demonstrating substantial chattering reduction and improved robustness. The stability of the SMCQPRL is rigorously established using Lyapunov theory, confirming its suitability for real-world robotic applications.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"88 ","pages":"Article 101438"},"PeriodicalIF":2.6,"publicationDate":"2025-12-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145980919","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2025-12-26DOI: 10.1016/j.ejcon.2025.101442
Huu Thien Nguyen , Ionela Prodan , Fernando A.C.C. Fontes
We address the planning and control problems of a fixed-wing unmanned aerial vehicle (FW UAV) in a deep-stall and perching landing maneuver. We use optimal control methods to generate a trajectory that satisfies not only the aircraft maneuver requirement but also the recursive feasibility demands of the tracking control method that we use subsequently. To track the generated trajectory, we developed a Nonlinear Model Predictive Control (NMPC) scheme. We then outline the steps to systematically derive the NMPC terminal costs and the terminal sets tailored to this problem and formally prove the stability of the NMPC tracking scheme. Simulation results for different initial conditions show the viability of the developed scheme for the deep-stall and perching landing maneuvers. Finally, we examine the relationships between airspeed, wing loading, elevator deflection angle, and flight path angle in steady flight, including deep-stall landing.
{"title":"Nonlinear model predictive control trajectory tracking for a fixed-wing UAV in a deep-stall and perching landing maneuver with guaranteed stability","authors":"Huu Thien Nguyen , Ionela Prodan , Fernando A.C.C. Fontes","doi":"10.1016/j.ejcon.2025.101442","DOIUrl":"10.1016/j.ejcon.2025.101442","url":null,"abstract":"<div><div>We address the planning and control problems of a fixed-wing unmanned aerial vehicle (FW UAV) in a deep-stall and perching landing maneuver. We use optimal control methods to generate a trajectory that satisfies not only the aircraft maneuver requirement but also the recursive feasibility demands of the tracking control method that we use subsequently. To track the generated trajectory, we developed a Nonlinear Model Predictive Control (NMPC) scheme. We then outline the steps to systematically derive the NMPC terminal costs and the terminal sets tailored to this problem and formally prove the stability of the NMPC tracking scheme. Simulation results for different initial conditions show the viability of the developed scheme for the deep-stall and perching landing maneuvers. Finally, we examine the relationships between airspeed, wing loading, elevator deflection angle, and flight path angle in steady flight, including deep-stall landing.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"88 ","pages":"Article 101442"},"PeriodicalIF":2.6,"publicationDate":"2025-12-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145980916","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2025-12-25DOI: 10.1016/j.ejcon.2025.101440
Harsh Oza , Irinel-Constantin Morărescu , Vineeth S. Varma , Ravi Banavar
In this article, we study a Networked Control System (NCS) with multiplexed communication and Bernoulli packet drops. Multiplexed communication refers to the constraint that transmission of a control signal and an observation signal cannot occur simultaneously due to the limited bandwidth. First, we propose an ε-greedy algorithm for the selection of the communication sequence that also ensures Mean Square Stability (MSS). We formulate the system as a Markovian Jump Linear System (MJLS) and provide the necessary conditions for MSS in terms of Linear Matrix Inequalities (LMIs) that need to be satisfied for three corner cases. We prove that the system is MSS for any convex combination of these three corner cases. We validate our approach with a numerical example that shows the effectiveness of our method.
{"title":"Stability of multiplexed NCS based on an epsilon-greedy algorithm for communication selection","authors":"Harsh Oza , Irinel-Constantin Morărescu , Vineeth S. Varma , Ravi Banavar","doi":"10.1016/j.ejcon.2025.101440","DOIUrl":"10.1016/j.ejcon.2025.101440","url":null,"abstract":"<div><div>In this article, we study a Networked Control System (NCS) with multiplexed communication and Bernoulli packet drops. Multiplexed communication refers to the constraint that transmission of a control signal and an observation signal cannot occur simultaneously due to the limited bandwidth. First, we propose an ε-greedy algorithm for the selection of the communication sequence that also ensures Mean Square Stability (MSS). We formulate the system as a Markovian Jump Linear System (MJLS) and provide the necessary conditions for MSS in terms of Linear Matrix Inequalities (LMIs) that need to be satisfied for three corner cases. We prove that the system is MSS for any convex combination of these three corner cases. We validate our approach with a numerical example that shows the effectiveness of our method.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"88 ","pages":"Article 101440"},"PeriodicalIF":2.6,"publicationDate":"2025-12-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145908889","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2025-12-18DOI: 10.1016/j.ejcon.2025.101436
Xiaoyan Dai , Claudio De Persis , Nima Monshizadeh , Pietro Tesi
In this article, we introduce a method to deal with the data-driven control design of nonlinear systems from input-output data only. We derive conditions to design dynamic output feedback controllers that render the closed-loop system dominantly linear using a growth condition on basis functions. These conditions take the compact form of data-dependent linear matrix inequalities. The method returns controllers that can be certified to stabilize the system even when the input-output data are perturbed. We extend the method to tackle neglected nonlinearities. Results are illustrated with numerical examples.
{"title":"Data-driven output feedback control of nonlinear systems: Stabilization and robustness","authors":"Xiaoyan Dai , Claudio De Persis , Nima Monshizadeh , Pietro Tesi","doi":"10.1016/j.ejcon.2025.101436","DOIUrl":"10.1016/j.ejcon.2025.101436","url":null,"abstract":"<div><div>In this article, we introduce a method to deal with the data-driven control design of nonlinear systems from input-output data only. We derive conditions to design dynamic output feedback controllers that render the closed-loop system dominantly linear using a growth condition on basis functions. These conditions take the compact form of data-dependent linear matrix inequalities. The method returns controllers that can be certified to stabilize the system even when the input-output data are perturbed. We extend the method to tackle neglected nonlinearities. Results are illustrated with numerical examples.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"87 ","pages":"Article 101436"},"PeriodicalIF":2.6,"publicationDate":"2025-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145840904","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2025-12-13DOI: 10.1016/j.ejcon.2025.101437
Julio-Ariel Romero-Pérez , Oscar Miguel-Escrig , José Sánchez-Moreno , Sebastián Dormido-Bencomo
Relay feedback experiments are well known for providing valuable information about system dynamics, which can be used for automatic PID controller tuning. The estimation of frequency response points from data obtained in such experiments is typically based on describing function theory, which assumes purely sinusoidal closed-loop responses and neglects higher-order harmonics. However, this assumption is often violated in low-order systems with poor filtering characteristics, resulting in reduced estimation accuracy. To address this issue, several alternatives, such as the saturation relay and pre-load relay, have been proposed in the literature, offering improved estimation performance. In this work, it is introduced a gain-changing nonlinear scheme for frequency points identification that enhances the accuracy of existing approaches. The experiments follow a similar structure to standard relay feedback tests, thus preserving their well-known advantages while significantly reducing estimation errors. Furthermore, by incorporating calculated time delays and dynamically adjusting the gain-changing parameters, the method generates multiple closed-loop oscillation conditions to identify several frequency response points, all while keeping the output amplitude within safe operational limits. Simulation results demonstrate a substantial improvement in estimation accuracy compared to both traditional and enhanced relay-based methods, offering a precise and practical solution for frequency response identification in industrial process control.
{"title":"Identification of multiple frequency response points using gain-changing nonlinear feedback experiments","authors":"Julio-Ariel Romero-Pérez , Oscar Miguel-Escrig , José Sánchez-Moreno , Sebastián Dormido-Bencomo","doi":"10.1016/j.ejcon.2025.101437","DOIUrl":"10.1016/j.ejcon.2025.101437","url":null,"abstract":"<div><div>Relay feedback experiments are well known for providing valuable information about system dynamics, which can be used for automatic PID controller tuning. The estimation of frequency response points from data obtained in such experiments is typically based on describing function theory, which assumes purely sinusoidal closed-loop responses and neglects higher-order harmonics. However, this assumption is often violated in low-order systems with poor filtering characteristics, resulting in reduced estimation accuracy. To address this issue, several alternatives, such as the saturation relay and pre-load relay, have been proposed in the literature, offering improved estimation performance. In this work, it is introduced a gain-changing nonlinear scheme for frequency points identification that enhances the accuracy of existing approaches. The experiments follow a similar structure to standard relay feedback tests, thus preserving their well-known advantages while significantly reducing estimation errors. Furthermore, by incorporating calculated time delays and dynamically adjusting the gain-changing parameters, the method generates multiple closed-loop oscillation conditions to identify several frequency response points, all while keeping the output amplitude within safe operational limits. Simulation results demonstrate a substantial improvement in estimation accuracy compared to both traditional and enhanced relay-based methods, offering a precise and practical solution for frequency response identification in industrial process control.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"87 ","pages":"Article 101437"},"PeriodicalIF":2.6,"publicationDate":"2025-12-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145791111","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2025-12-04DOI: 10.1016/j.ejcon.2025.101427
Fatih Emre Tosun , André M.H. Teixeira , Jingwei Dong , Anders Ahlén , Subhrakanti Dey
Cyber-physical systems (CPS) are increasingly deployed in safety-critical applications, making them prime targets for adversarial attacks. Timely detection and mitigation of such attacks are imperative for the safe operation of CPS. This paper proposes a novel residual generator design method for enhanced detection of bias injection attacks (BIAs) in linear CPS driven by white Gaussian noise. Specifically, we define a flexible attack impact metric based on the weighted norm of the injected bias and a detectability metric based on the Kullback-Leibler divergence. Using these two metrics, we characterize the worst-case BIAs as those that minimize detectability while maintaining a specified minimum impact. For residual generation filter synthesis, we formulate two optimization problems: one for maximizing the detectability of worst-case BIAs at the attack onset and the other at steady state. Since these two problems are inherently conflicting, we employ the ϵ-constraint method to obtain Pareto-optimal solutions that balance transient and steady-state detectability. The effectiveness of the proposed filter design method is demonstrated through numerical simulations, with a comparison against two state-of-the-art benchmarks: the Kalman filter and the filter.
{"title":"Kullback-Leibler divergence-based filter design against bias injection attacks","authors":"Fatih Emre Tosun , André M.H. Teixeira , Jingwei Dong , Anders Ahlén , Subhrakanti Dey","doi":"10.1016/j.ejcon.2025.101427","DOIUrl":"10.1016/j.ejcon.2025.101427","url":null,"abstract":"<div><div>Cyber-physical systems (CPS) are increasingly deployed in safety-critical applications, making them prime targets for adversarial attacks. Timely detection and mitigation of such attacks are imperative for the safe operation of CPS. This paper proposes a novel residual generator design method for enhanced detection of bias injection attacks (BIAs) in linear CPS driven by white Gaussian noise. Specifically, we define a flexible attack impact metric based on the weighted norm of the injected bias and a detectability metric based on the Kullback-Leibler divergence. Using these two metrics, we characterize the worst-case BIAs as those that minimize detectability while maintaining a specified minimum impact. For residual generation filter synthesis, we formulate two optimization problems: one for maximizing the detectability of worst-case BIAs at the attack onset and the other at steady state. Since these two problems are inherently conflicting, we employ the ϵ-constraint method to obtain Pareto-optimal solutions that balance transient and steady-state detectability. The effectiveness of the proposed filter design method is demonstrated through numerical simulations, with a comparison against two state-of-the-art benchmarks: the Kalman filter and the <span><math><mrow><msub><mi>H</mi><mo>−</mo></msub><mo>/</mo><msub><mi>H</mi><mn>2</mn></msub></mrow></math></span> filter.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"87 ","pages":"Article 101427"},"PeriodicalIF":2.6,"publicationDate":"2025-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145738135","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2025-12-03DOI: 10.1016/j.ejcon.2025.101424
Woojoo Shim , Hyunjin Ahn
We provide a sufficient framework concerning finite-time tracking to a predetermined target of continuum agents. For this, we propose a continuum model derived via the continuum limit of a multi-agent system studied in existing literature. By employing a suitable Lyapunov functional, along with several finite-time stability frameworks, the non-smooth LaSalle invariance principle, and settling time analysis, we establish the desired finite-time tracking under admissible data consisting of initial data, kernel functionals, and system parameters. Finally, we complement and validate our theoretical analysis with numerical simulations that illustrate the results and highlight their practical implications.
{"title":"Settling time analysis of a continuum model with finite-time target tracking","authors":"Woojoo Shim , Hyunjin Ahn","doi":"10.1016/j.ejcon.2025.101424","DOIUrl":"10.1016/j.ejcon.2025.101424","url":null,"abstract":"<div><div>We provide a sufficient framework concerning finite-time tracking to a predetermined target of continuum agents. For this, we propose a continuum model derived via the continuum limit of a multi-agent system studied in existing literature. By employing a suitable Lyapunov functional, along with several finite-time stability frameworks, the non-smooth LaSalle invariance principle, and settling time analysis, we establish the desired finite-time tracking under admissible data consisting of initial data, kernel functionals, and system parameters. Finally, we complement and validate our theoretical analysis with numerical simulations that illustrate the results and highlight their practical implications.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"87 ","pages":"Article 101424"},"PeriodicalIF":2.6,"publicationDate":"2025-12-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145738134","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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