Pub Date : 2026-01-01Epub 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":"2026-01-01","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 : 2026-01-01Epub 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":"2026-01-01","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 : 2025-12-01Epub Date: 2025-09-18DOI: 10.1016/j.ejcon.2025.101396
Chems Eddine Boudjedir
This paper proposes a novel, practical prescribed-time control (PTC) scheme for the trajectory tracking of n-degree-of-freedom (n-DOF) robot manipulators subject to external disturbances. Unlike existing approaches, the proposed PTC scheme is entirely model-free. It leverages a time-delay estimation (TDE) technique to compensate for unknown dynamics and disturbances, eliminating the need for upper bounds. A key innovation is the design of a new time-varying gain which increases only as the time approaches the prescribed value. This ensures the feasibility of the control signal and avoids saturation issues which often make practical deployment difficult. The controller also remains effective beyond the prescribed time, overcoming a significant limitation of previous studies. Rigorous Lyapunov analysis guarantees that position and velocity tracking errors will converge within the prescribed time. Comparative simulations on a parallel Delta robot demonstrate the superiority and practicality of the scheme over existing methods.
{"title":"A widely-practical model-free prescribed time control for trajectory tracking of n-DOF robot manipulators","authors":"Chems Eddine Boudjedir","doi":"10.1016/j.ejcon.2025.101396","DOIUrl":"10.1016/j.ejcon.2025.101396","url":null,"abstract":"<div><div>This paper proposes a novel, practical prescribed-time control (PTC) scheme for the trajectory tracking of n-degree-of-freedom (n-DOF) robot manipulators subject to external disturbances. Unlike existing approaches, the proposed PTC scheme is entirely model-free. It leverages a time-delay estimation (TDE) technique to compensate for unknown dynamics and disturbances, eliminating the need for upper bounds. A key innovation is the design of a new time-varying gain which increases only as the time approaches the prescribed value. This ensures the feasibility of the control signal and avoids saturation issues which often make practical deployment difficult. The controller also remains effective beyond the prescribed time, overcoming a significant limitation of previous studies. Rigorous Lyapunov analysis guarantees that position and velocity tracking errors will converge within the prescribed time. Comparative simulations on a parallel Delta robot demonstrate the superiority and practicality of the scheme over existing methods.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"86 ","pages":"Article 101396"},"PeriodicalIF":2.6,"publicationDate":"2025-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145109492","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 : 2025-12-01Epub Date: 2025-10-22DOI: 10.1016/j.ejcon.2025.101404
Xiaoru Sun, Chris T. Freeman
An artificial neural network (ANN) is combined with gradient descent to form a model-free iterative learning control (ILC) approach than can be applied to a wide range of nonlinear discrete-time systems. The ANN is recursively trained on the entire set of past data collected from the system and uses a passivity condition to determine when the ANN can be used to compute the next ILC update, or if an identification test is needed. Convergence properties are established alongside design selections that ensure the passivity condition is fulfilled. By minimising the reliance on identification tests, this methodology is substantially faster than existing model-free ILC algorithms. It is tested on a key stroke rehabilitation problem using functional electrical stimulation (FES) for hand/wrist tracking. Experimental results using the new ILC approach with eight participants show that three hand/wrist references can be tracked using an average of 56% fewer experimental inputs compared with the most accurate previous approach. As the first approach to combine ILC and machine learning in upper limb rehabilitation, the results demonstrate how their combination addresses their individual deficiencies.
{"title":"Artificial neural network based iterative learning control for stroke rehabilitation","authors":"Xiaoru Sun, Chris T. Freeman","doi":"10.1016/j.ejcon.2025.101404","DOIUrl":"10.1016/j.ejcon.2025.101404","url":null,"abstract":"<div><div>An artificial neural network (ANN) is combined with gradient descent to form a model-free iterative learning control (ILC) approach than can be applied to a wide range of nonlinear discrete-time systems. The ANN is recursively trained on the entire set of past data collected from the system and uses a passivity condition to determine when the ANN can be used to compute the next ILC update, or if an identification test is needed. Convergence properties are established alongside design selections that ensure the passivity condition is fulfilled. By minimising the reliance on identification tests, this methodology is substantially faster than existing model-free ILC algorithms. It is tested on a key stroke rehabilitation problem using functional electrical stimulation (FES) for hand/wrist tracking. Experimental results using the new ILC approach with eight participants show that three hand/wrist references can be tracked using an average of 56% fewer experimental inputs compared with the most accurate previous approach. As the first approach to combine ILC and machine learning in upper limb rehabilitation, the results demonstrate how their combination addresses their individual deficiencies.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"86 ","pages":"Article 101404"},"PeriodicalIF":2.6,"publicationDate":"2025-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145362452","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 : 2025-12-01Epub Date: 2025-09-20DOI: 10.1016/j.ejcon.2025.101386
Zhipeng Zhang , Aocheng Wang , Haitao Li , Chengyi Xia
This paper investigates the safety synthesis problem of networked logical finite state machines with bounded communication delays in observation and control channels using the semi-tensor product (STP) of matrices. First, algebraic formulations for networked state estimation and state prediction are constructed. By defining a set of critical states that may transition to illegal states through observable events under communication delays, a more refined algorithm for state evolution is proposed. Then, based on the concept of minimal constraints, necessary and sufficient algebraic conditions are derived for the existence of a networked supervisor that satisfies the given safety specifications. The proposed method exhibits polynomial time complexity. Finally, the theoretical results are validated through an illustrative example.
{"title":"Algebraic calculation for safety synthesis of networked logical finite state machines","authors":"Zhipeng Zhang , Aocheng Wang , Haitao Li , Chengyi Xia","doi":"10.1016/j.ejcon.2025.101386","DOIUrl":"10.1016/j.ejcon.2025.101386","url":null,"abstract":"<div><div>This paper investigates the safety synthesis problem of networked logical finite state machines with bounded communication delays in observation and control channels using the semi-tensor product (STP) of matrices. First, algebraic formulations for networked state estimation and state prediction are constructed. By defining a set of critical states that may transition to illegal states through observable events under communication delays, a more refined algorithm for state evolution is proposed. Then, based on the concept of minimal constraints, necessary and sufficient algebraic conditions are derived for the existence of a networked supervisor that satisfies the given safety specifications. The proposed method exhibits polynomial time complexity. Finally, the theoretical results are validated through an illustrative example.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"86 ","pages":"Article 101386"},"PeriodicalIF":2.6,"publicationDate":"2025-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145221696","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 : 2025-12-01Epub Date: 2025-09-18DOI: 10.1016/j.ejcon.2025.101374
Le Van Hien , Le Huy Vu
This paper focuses on the problem of exponential admissibility and controller design for continuous-time nonlinear time-varying delay singular systems (CTN-TVD-SSs). By formulating a set of enhanced Lyapunov–Krasovskii functionals, new delay-dependent conditions are established using linear matrix inequality (LMI) settings to guarantee the regularity, impulse-freeness, and exponential admissibility with an performance level of the closed-loop system. A state feedback controller (SF-C) design is also discussed. Numerical examples with simulations are provided to illustrate the effectiveness of the obtained results.
{"title":"Exponential admissibility and H∞ controller design for continuous-time nonlinear time-varying delay singular systems","authors":"Le Van Hien , Le Huy Vu","doi":"10.1016/j.ejcon.2025.101374","DOIUrl":"10.1016/j.ejcon.2025.101374","url":null,"abstract":"<div><div>This paper focuses on the problem of exponential admissibility and <span><math><msub><mrow><mi>H</mi></mrow><mrow><mi>∞</mi></mrow></msub></math></span> controller design for continuous-time nonlinear time-varying delay singular systems (CTN-TVD-SSs). By formulating a set of enhanced Lyapunov–Krasovskii functionals, new delay-dependent conditions are established using linear matrix inequality (LMI) settings to guarantee the regularity, impulse-freeness, and exponential admissibility with an <span><math><msub><mrow><mi>H</mi></mrow><mrow><mi>∞</mi></mrow></msub></math></span> performance level <span><math><mi>γ</mi></math></span> of the closed-loop system. A state feedback <span><math><msub><mrow><mi>H</mi></mrow><mrow><mi>∞</mi></mrow></msub></math></span> controller (SF-<span><math><msub><mrow><mtext>H</mtext></mrow><mrow><mi>∞</mi></mrow></msub></math></span>C) design is also discussed. Numerical examples with simulations are provided to illustrate the effectiveness of the obtained results.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"86 ","pages":"Article 101374"},"PeriodicalIF":2.6,"publicationDate":"2025-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145097563","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 : 2025-12-01Epub Date: 2025-10-08DOI: 10.1016/j.ejcon.2025.101401
Siyu Zhu, Fuxiao Tan
This paper proposes a decentralized event-triggered tracking control (ETC) framework for multi-agent systems (MAS), leveraging dynamic game theory to enhance scalability, reduce communication overhead, and ensure tracking performance. Each agent is modeled as a rational player in a non-cooperative dynamic game, minimizing a local cost that balances control effort and neighborhood deviation. A distributed event-triggering mechanism is developed, activating control updates only when the local tracking error surpasses a prescribed threshold. Theoretical analysis proves the existence of Nash equilibrium and the asymptotic stability of the closed-loop system under mild assumptions. Simulation results illustrate that the proposed framework achieves comparable tracking accuracy while significantly reducing the number of control updates, with simulations showing reductions in a parameter-dependent and adaptive manner.
{"title":"Game-theoretic event-triggered tracking control for scalable multi-agent systems","authors":"Siyu Zhu, Fuxiao Tan","doi":"10.1016/j.ejcon.2025.101401","DOIUrl":"10.1016/j.ejcon.2025.101401","url":null,"abstract":"<div><div>This paper proposes a decentralized event-triggered tracking control (ETC) framework for multi-agent systems (MAS), leveraging dynamic game theory to enhance scalability, reduce communication overhead, and ensure tracking performance. Each agent is modeled as a rational player in a non-cooperative dynamic game, minimizing a local cost that balances control effort and neighborhood deviation. A distributed event-triggering mechanism is developed, activating control updates only when the local tracking error surpasses a prescribed threshold. Theoretical analysis proves the existence of Nash equilibrium and the asymptotic stability of the closed-loop system under mild assumptions. Simulation results illustrate that the proposed framework achieves comparable tracking accuracy while significantly reducing the number of control updates, with simulations showing reductions in a parameter-dependent and adaptive manner.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"86 ","pages":"Article 101401"},"PeriodicalIF":2.6,"publicationDate":"2025-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145268583","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}
This paper investigates social optima for linear–quadratic-Gaussian (LQG) games of stochastic mean-field Markov regime-switching systems with jump diffusion processes, where the individual agents of the system are coupled via individual state dynamics and cost functionals. A verification theorem in the form of maximum principle is established, specifying the sufficient conditions for optimality. A set of decentralized strategies is designed according to the feedback representation of optimal control. The decentralized strategies are proved to be asymptotically social optimal. As an illustration, a numerical example is provided to show the consistency of the mean-field estimation and the influence of the population’s collective behaviors.
{"title":"Mean-field social optimization for linear–quadratic Markov switching systems with Poisson jumps","authors":"Ruimin Xu , Jingyu Zhang , Kaiyue Dong , Haiyang Wang","doi":"10.1016/j.ejcon.2025.101356","DOIUrl":"10.1016/j.ejcon.2025.101356","url":null,"abstract":"<div><div>This paper investigates social optima for linear–quadratic-Gaussian (LQG) games of stochastic mean-field Markov regime-switching systems with jump diffusion processes, where the individual agents of the system are coupled via individual state dynamics and cost functionals. A verification theorem in the form of maximum principle is established, specifying the sufficient conditions for optimality. A set of decentralized strategies is designed according to the feedback representation of optimal control. The decentralized strategies are proved to be asymptotically social optimal. As an illustration, a numerical example is provided to show the consistency of the mean-field estimation and the influence of the population’s collective behaviors.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"86 ","pages":"Article 101356"},"PeriodicalIF":2.6,"publicationDate":"2025-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145027811","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 : 2025-12-01Epub Date: 2025-10-24DOI: 10.1016/j.ejcon.2025.101403
Wen Kang , Emilia Fridman , Er-Xin Pang
This paper addresses non-local control design of 1-D nonlinear Korteweg–de Vries–Burgers equation in the presence of variable input delay, actuator saturation as well as sampled-data switching control. By using the modal decomposition approach, we divide the original system into unstable modes and infinitely many stable modes. Based on the unstable modes, we design a finite-dimensional controller to stabilize the system. The well-posedness of the closed-loop system is established by semigroup theory and the step method. To prove regional -stability of the closed-loop system, we construct an appropriate Lyapunov–Krasovskii functional and derive sufficient conditions for stability. An estimate is provided for the set of initial conditions starting from which the state trajectories of the system are exponentially converging to origin. Switched controller is designed based on the sampled-data state-depend switching law. Numerical example illustrates the efficiency of the method.
{"title":"Delayed stabilization of Korteweg–de Vries–Burgers equation by constrained control","authors":"Wen Kang , Emilia Fridman , Er-Xin Pang","doi":"10.1016/j.ejcon.2025.101403","DOIUrl":"10.1016/j.ejcon.2025.101403","url":null,"abstract":"<div><div>This paper addresses non-local control design of 1-D nonlinear Korteweg–de Vries–Burgers equation in the presence of variable input delay, actuator saturation as well as sampled-data switching control. By using the modal decomposition approach, we divide the original system into <span><math><mrow><mi>N</mi><mo>+</mo><mn>1</mn></mrow></math></span> unstable modes and infinitely many stable modes. Based on the <span><math><mrow><mi>N</mi><mo>+</mo><mn>1</mn></mrow></math></span> unstable modes, we design a finite-dimensional controller to stabilize the system. The well-posedness of the closed-loop system is established by semigroup theory and the step method. To prove regional <span><math><msup><mrow><mi>H</mi></mrow><mrow><mn>1</mn></mrow></msup></math></span>-stability of the closed-loop system, we construct an appropriate Lyapunov–Krasovskii functional and derive sufficient conditions for stability. An estimate is provided for the set of initial conditions starting from which the state trajectories of the system are exponentially converging to origin. Switched controller is designed based on the sampled-data state-depend switching law. Numerical example illustrates the efficiency of the method.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"86 ","pages":"Article 101403"},"PeriodicalIF":2.6,"publicationDate":"2025-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145416544","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 : 2025-12-01Epub Date: 2025-09-11DOI: 10.1016/j.ejcon.2025.101397
M.R. Homaeinezhad, M.M. Mousavi Alvar, A. Soordi, M. Aghaei, A. Hatefikousha, T. Charehjoo
Nonlinear Multi-Input Multi-Output (MIMO) systems governed by Newtonian mechanics face significant challenges in tracking control design, especially due to actuator saturation constraints that can undermine asymptotic stability by yielding nullified control inputs. This paper proposes a novel tracking control algorithm ensuring stability and compliance with actuator limitations. The approach transforms continuous-time dynamics into a discrete-time framework, enhancing computational efficiency by replacing differential equations with algebraic ones. A sliding surface with dynamically tunable parameters is introduced for each output to optimize tracking performance, and control inputs are derived using a power reaching law, split into position and velocity modes which helps reducing actuator power and overshoot/undershoot. Actuator saturation is explicitly addressed for both modes through convex inequality constraints, enabling an optimal desired trajectory to return feasible control inputs that respect input limits while preserving asymptotic stability. A search mechanism optimizes sliding and power-reaching parameters to minimize tracking error, aligning the modified trajectory with the reference. Mathematical proofs establish the closed-loop system’s asymptotic stability and convergence of modified trajectory to reference trajectory. MATLAB simulations included by comparative investigations confirm precise tracking, robustness against parametric uncertainties, and adherence to saturation constraints, achieved without manual tuning and pre-setting. This self-tuning capability, distinguishes the method from existing approaches reliant on empirical adjustments. Real-time execution analysis validates feasibility, meeting a 0.01-second execution target. Given the quadratic relationship between search gridding intensity and computational load demonstrated through real-time execution assessment, as it provides a benchmark on parameter selection, enabling an effective balance between control performance and stringent demands of real-time feasibility. The algorithm’s adaptability to different optimization techniques to balance computational load and tracking accuracy, offers a standardized, versatile framework for controlling complex nonlinear MIMO systems in the presence of various constraints.
{"title":"Numerical solution for strict tracking control asymptotic stability problem of MIMO systems manipulated by hard actuation constraints","authors":"M.R. Homaeinezhad, M.M. Mousavi Alvar, A. Soordi, M. Aghaei, A. Hatefikousha, T. Charehjoo","doi":"10.1016/j.ejcon.2025.101397","DOIUrl":"10.1016/j.ejcon.2025.101397","url":null,"abstract":"<div><div>Nonlinear Multi-Input Multi-Output (MIMO) systems governed by Newtonian mechanics face significant challenges in tracking control design, especially due to actuator saturation constraints that can undermine asymptotic stability by yielding nullified control inputs. This paper proposes a novel tracking control algorithm ensuring stability and compliance with actuator limitations. The approach transforms continuous-time dynamics into a discrete-time framework, enhancing computational efficiency by replacing differential equations with algebraic ones. A sliding surface with dynamically tunable parameters is introduced for each output to optimize tracking performance, and control inputs are derived using a power reaching law, split into position and velocity modes which helps reducing actuator power and overshoot/undershoot. Actuator saturation is explicitly addressed for both modes through convex inequality constraints, enabling an optimal desired trajectory to return feasible control inputs that respect input limits while preserving asymptotic stability. A search mechanism optimizes sliding and power-reaching parameters to minimize tracking error, aligning the modified trajectory with the reference. Mathematical proofs establish the closed-loop system’s asymptotic stability and convergence of modified trajectory to reference trajectory. MATLAB simulations included by comparative investigations confirm precise tracking, robustness against parametric uncertainties, and adherence to saturation constraints, achieved without manual tuning and pre-setting. This self-tuning capability, distinguishes the method from existing approaches reliant on empirical adjustments. Real-time execution analysis validates feasibility, meeting a 0.01-second execution target. Given the quadratic relationship between search gridding intensity and computational load demonstrated through real-time execution assessment, as it provides a benchmark on parameter selection, enabling an effective balance between control performance and stringent demands of real-time feasibility. The algorithm’s adaptability to different optimization techniques to balance computational load and tracking accuracy, offers a standardized, versatile framework for controlling complex nonlinear MIMO systems in the presence of various constraints.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"86 ","pages":"Article 101397"},"PeriodicalIF":2.6,"publicationDate":"2025-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145109493","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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