Pub Date : 2025-11-01DOI: 10.1016/j.ejcon.2025.101321
Manuel Mera , Rosane Ushirobira , Denis Efimov , Francisco Javier Bejarano
This paper presents sufficient reconstructability and observability conditions for piecewise linear systems affected by known and unknown inputs. Based on these conditions, an observer design using a High Order Sliding Mode (HOSM) differentiator is proposed to estimate both the continuous and discrete states. Additionally, numerical examples and simulations are given to explain and illustrate the results.
{"title":"Observer design conditions for piecewise linear systems with known and unknown inputs","authors":"Manuel Mera , Rosane Ushirobira , Denis Efimov , Francisco Javier Bejarano","doi":"10.1016/j.ejcon.2025.101321","DOIUrl":"10.1016/j.ejcon.2025.101321","url":null,"abstract":"<div><div>This paper presents sufficient reconstructability and observability conditions for piecewise linear systems affected by known and unknown inputs. Based on these conditions, an observer design using a High Order Sliding Mode (HOSM) differentiator is proposed to estimate both the continuous and discrete states. Additionally, numerical examples and simulations are given to explain and illustrate the results.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"86 ","pages":"Article 101321"},"PeriodicalIF":2.6,"publicationDate":"2025-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145645613","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 : 2025-11-01DOI: 10.1016/j.ejcon.2025.101364
S. Fueyo, C. Canudas de Wit
In this paper, using a continuation method (Nikitin and Canudas-de Wit, 2022), we provide a simple procedure to derive macroscopic models from second order ordinary differential equations modeling individual vehicles moving on a ring. In particular, the result is applied to classical traffic models such as the optimal velocity follow the leader (OV-FTL) models, the intelligent driver model (IDM) or delayed driver models and we are able to modelize the macroscopic behavior of the drivers through a 2 × 2 partial differential equations whose variables are the density of the traffic and the speed of the vehicles. The paper concludes with open questions regarding stability and microscopic control design.
{"title":"From microscopic driver models to macroscopic PDEs in ring road traffic dynamics","authors":"S. Fueyo, C. Canudas de Wit","doi":"10.1016/j.ejcon.2025.101364","DOIUrl":"10.1016/j.ejcon.2025.101364","url":null,"abstract":"<div><div>In this paper, using a continuation method (Nikitin and Canudas-de Wit, 2022), we provide a simple procedure to derive macroscopic models from second order ordinary differential equations modeling individual vehicles moving on a ring. In particular, the result is applied to classical traffic models such as the optimal velocity follow the leader (OV-FTL) models, the intelligent driver model (IDM) or delayed driver models and we are able to modelize the macroscopic behavior of the drivers through a 2 × 2 partial differential equations whose variables are the density of the traffic and the speed of the vehicles. The paper concludes with open questions regarding stability and microscopic control design.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"86 ","pages":"Article 101364"},"PeriodicalIF":2.6,"publicationDate":"2025-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145645422","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 : 2025-11-01DOI: 10.1016/j.ejcon.2025.101365
Lampros N. Bikas, Konstantinos M. Vervelithanos, George A. Rovithakis
This paper extends the prescribed performance control (PPC) methodology to discrete-time control with time-varying transmission intervals. Starting from a continuous-time PPC scheme that enforces pre-specified, user-defined performance bounds on output tracking errors, we develop a dynamic control protocol that determines sampling instants in real-time. This approach preserves closed-loop stability and output tracking performance while allowing transmission intervals to vary according to the current error distance from the performance bounds. By adapting the sampling times accordingly, our method reduces sampling frequency and improves system efficiency and reliability. Furthermore, we show that stricter performance requirements result in smaller transmission intervals, whereas relaxed requirements permit larger ones. Theoretical analysis and simulation results verify the effectiveness of the proposed approach.
{"title":"Discrete-time prescribed performance control with time-varying transmission intervals","authors":"Lampros N. Bikas, Konstantinos M. Vervelithanos, George A. Rovithakis","doi":"10.1016/j.ejcon.2025.101365","DOIUrl":"10.1016/j.ejcon.2025.101365","url":null,"abstract":"<div><div>This paper extends the prescribed performance control (PPC) methodology to discrete-time control with time-varying transmission intervals. Starting from a continuous-time PPC scheme that enforces pre-specified, user-defined performance bounds on output tracking errors, we develop a dynamic control protocol that determines sampling instants in real-time. This approach preserves closed-loop stability and output tracking performance while allowing transmission intervals to vary according to the current error distance from the performance bounds. By adapting the sampling times accordingly, our method reduces sampling frequency and improves system efficiency and reliability. Furthermore, we show that stricter performance requirements result in smaller transmission intervals, whereas relaxed requirements permit larger ones. Theoretical analysis and simulation results verify the effectiveness of the proposed approach.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"86 ","pages":"Article 101365"},"PeriodicalIF":2.6,"publicationDate":"2025-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145645533","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 : 2025-11-01DOI: 10.1016/j.ejcon.2025.101309
Alessandro Bosso , Marco Borghesi , Andrea Iannelli , Giuseppe Notarstefano , Andrew R. Teel
This paper develops a method for data-driven stabilization of continuous-time linear time-invariant systems with theoretical guarantees and no need for signal derivatives. The framework is based on linear matrix inequalities (LMIs) and illustrated in the state-feedback and single-input single-output output-feedback scenarios. Similar to discrete-time approaches, we rely solely on input and state/output measurements. In particular, we avoid differentiation by employing low-pass filters of the measured signals that, rather than approximating the derivatives, reconstruct a non-minimal realization of the plant. With access to the filter states and their derivatives, we can solve LMIs derived from sample batches of the available signals to compute a dynamic controller that stabilizes the plant. The effectiveness of the approach is showcased via numerical examples.
{"title":"Derivative-free data-driven control of continuous-time linear time-invariant systems","authors":"Alessandro Bosso , Marco Borghesi , Andrea Iannelli , Giuseppe Notarstefano , Andrew R. Teel","doi":"10.1016/j.ejcon.2025.101309","DOIUrl":"10.1016/j.ejcon.2025.101309","url":null,"abstract":"<div><div>This paper develops a method for data-driven stabilization of continuous-time linear time-invariant systems with theoretical guarantees and no need for signal derivatives. The framework is based on linear matrix inequalities (LMIs) and illustrated in the state-feedback and single-input single-output output-feedback scenarios. Similar to discrete-time approaches, we rely solely on input and state/output measurements. In particular, we avoid differentiation by employing low-pass filters of the measured signals that, rather than approximating the derivatives, reconstruct a non-minimal realization of the plant. With access to the filter states and their derivatives, we can solve LMIs derived from sample batches of the available signals to compute a dynamic controller that stabilizes the plant. The effectiveness of the approach is showcased via numerical examples.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"86 ","pages":"Article 101309"},"PeriodicalIF":2.6,"publicationDate":"2025-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145645610","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 : 2025-11-01DOI: 10.1016/j.ejcon.2025.101306
Roberta Raineri, Lorenzo Zino, Anton Proskurnikov
The Friedkin–Johnsen (FJ) model has been extensively validated across social science, systems and control, game theory, and algorithmic research. We introduce an advanced generalization — termed the FJ-MM model — that incorporates memory effects and multi-hop influence. This extension allows agents to naturally integrate both current and past opinions at each iteration. We analyze the stability and equilibrium properties of the FJ-MM model, demonstrating that they can be derived from those of a standard FJ model with an appropriately modified influence matrix. We examine the convergence rate of the FJ-MM model and demonstrate that, as can be expected, the time lags introduced by memory and higher-order neighbor influences result in slower convergence. Numerical results illustrate that memory and multi-hop influence reshape the final opinion landscape, e.g., by reducing polarization.
{"title":"FJ-MM: Friedkin–Johnsen opinion dynamics model with memory and higher-order neighbors","authors":"Roberta Raineri, Lorenzo Zino, Anton Proskurnikov","doi":"10.1016/j.ejcon.2025.101306","DOIUrl":"10.1016/j.ejcon.2025.101306","url":null,"abstract":"<div><div>The Friedkin–Johnsen (FJ) model has been extensively validated across social science, systems and control, game theory, and algorithmic research. We introduce an advanced generalization — termed the FJ-MM model — that incorporates memory effects and multi-hop influence. This extension allows agents to naturally integrate both current and past opinions at each iteration. We analyze the stability and equilibrium properties of the FJ-MM model, demonstrating that they can be derived from those of a standard FJ model with an appropriately modified influence matrix. We examine the convergence rate of the FJ-MM model and demonstrate that, as can be expected, the time lags introduced by memory and higher-order neighbor influences result in slower convergence. Numerical results illustrate that memory and multi-hop influence reshape the final opinion landscape, e.g., by reducing polarization.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"86 ","pages":"Article 101306"},"PeriodicalIF":2.6,"publicationDate":"2025-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145645607","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 : 2025-11-01DOI: 10.1016/j.ejcon.2025.101317
Giacomo Delcaro, Lorenzo Parietti, Simone Formentin, Sergio Matteo Savaresi
This work presents the first application of the recently developed Twin-in-the-Loop Control (TiL-C) approach to a disturbance rejection problem, focusing on the regulation of an active suspension system. By evaluating mismatches between the digital twin and the actual vehicle, the study identifies limitations in TiL-C and proposes new compensation strategies to address the simulation-to-reality gap in controller tuning during the end-of-line phase. The findings demonstrate TiL-C’s potential to connect digital and physical systems, enabling broader applications of TiL-C across multiple fields.
{"title":"Twin-in-the-Loop disturbance rejection with application to active suspension systems","authors":"Giacomo Delcaro, Lorenzo Parietti, Simone Formentin, Sergio Matteo Savaresi","doi":"10.1016/j.ejcon.2025.101317","DOIUrl":"10.1016/j.ejcon.2025.101317","url":null,"abstract":"<div><div>This work presents the first application of the recently developed Twin-in-the-Loop Control (TiL-C) approach to a disturbance rejection problem, focusing on the regulation of an active suspension system. By evaluating mismatches between the digital twin and the actual vehicle, the study identifies limitations in TiL-C and proposes new compensation strategies to address the simulation-to-reality gap in controller tuning during the end-of-line phase. The findings demonstrate TiL-C’s potential to connect digital and physical systems, enabling broader applications of TiL-C across multiple fields.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"86 ","pages":"Article 101317"},"PeriodicalIF":2.6,"publicationDate":"2025-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145645414","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 : 2025-11-01DOI: 10.1016/j.ejcon.2025.101335
Jan Quan, Brecht Evens, Rodolphe Sepulchre, Panagiotis Patrinos
The scaled relative graph (SRG) is a powerful graphical tool for analyzing the properties of operators, by mapping their graph onto the complex plane. In this work, we study the SRG of two classes of nonmonotone operators, namely the general class of semimonotone operators and a class of angle-bounded operators. In particular, we provide an analytical description of the SRG of these classes and show that membership of an operator to these classes can be verified through geometric containment of its SRG. To illustrate the importance of these results, we provide several examples in the context of electrical circuits. Most notably, we show that the Ebers–Moll transistor belongs to the class of angle-bounded operators and use this result to compute the response of a common-emitter amplifier using Chambolle–Pock, despite the underlying nonsmoothness and multi-valuedness, leveraging recent convergence results for this algorithm in the nonmonotone setting.
{"title":"Scaled relative graphs for nonmonotone operators with applications in circuit theory","authors":"Jan Quan, Brecht Evens, Rodolphe Sepulchre, Panagiotis Patrinos","doi":"10.1016/j.ejcon.2025.101335","DOIUrl":"10.1016/j.ejcon.2025.101335","url":null,"abstract":"<div><div>The scaled relative graph (SRG) is a powerful graphical tool for analyzing the properties of operators, by mapping their graph onto the complex plane. In this work, we study the SRG of two classes of nonmonotone operators, namely the general class of semimonotone operators and a class of angle-bounded operators. In particular, we provide an analytical description of the SRG of these classes and show that membership of an operator to these classes can be verified through geometric containment of its SRG. To illustrate the importance of these results, we provide several examples in the context of electrical circuits. Most notably, we show that the Ebers–Moll transistor belongs to the class of angle-bounded operators and use this result to compute the response of a common-emitter amplifier using Chambolle–Pock, despite the underlying nonsmoothness and multi-valuedness, leveraging recent convergence results for this algorithm in the nonmonotone setting.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"86 ","pages":"Article 101335"},"PeriodicalIF":2.6,"publicationDate":"2025-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145645421","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}
We consider the problem of learning time-varying functions in a distributed fashion, where agents collect local information to collaboratively achieve a shared estimate. This task is particularly relevant in control applications, whenever real-time and robust estimation of dynamic cost/reward functions in safety critical settings has to be performed. In this paper, we adopt a finite-dimensional approximation of a Gaussian process, corresponding to a Bayesian linear regression in an appropriate feature space, and propose a new algorithm, DistKP, to track the time-varying coefficients via a distributed Kalman filter. The proposed method works for arbitrary kernels and under weaker assumptions on the time-evolution of the function to learn compared to the literature. We validate our results using a simulation example in which a fleet of Unmanned Aerial Vehicles (UAVs) learns a dynamically changing wind field.
{"title":"Distributed time-varying Gaussian process regression via Kalman filtering","authors":"Nicola Taddei , Riccardo Maggioni , Jaap Eising , Giulia De Pasquale , Florian Dörfler","doi":"10.1016/j.ejcon.2025.101371","DOIUrl":"10.1016/j.ejcon.2025.101371","url":null,"abstract":"<div><div>We consider the problem of learning time-varying functions in a distributed fashion, where agents collect local information to collaboratively achieve a shared estimate. This task is particularly relevant in control applications, whenever real-time and robust estimation of dynamic cost/reward functions in safety critical settings has to be performed. In this paper, we adopt a finite-dimensional approximation of a Gaussian process, corresponding to a Bayesian linear regression in an appropriate feature space, and propose a new algorithm, DistKP, to track the time-varying coefficients via a distributed Kalman filter. The proposed method works for arbitrary kernels and under weaker assumptions on the time-evolution of the function to learn compared to the literature. We validate our results using a simulation example in which a fleet of Unmanned Aerial Vehicles (UAVs) learns a dynamically changing wind field.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"86 ","pages":"Article 101371"},"PeriodicalIF":2.6,"publicationDate":"2025-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145645536","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 : 2025-11-01DOI: 10.1016/j.ejcon.2025.101292
Amit Bhaya , Pierre-Alexandre Bliman
The Sterile Insect Technique (SIT) is a promising control method against insect pests and insect vectors. It consists in releasing males previously sterilized in laboratory, in order to reduce or eliminate a specific wild population. We study the implementation of SIT-based elimination campaign of Aedes mosquitoes using feedback control. We provide state-feedback and output-feedback control laws and establish their convergence, as well as their robustness properties. In this design procedure, a pivotal role is played by the use of properties of monotone systems. Simple illustrative simulations are provided.
{"title":"Feedback design for biological control by the sterile insect release technique exploiting monotone system theory","authors":"Amit Bhaya , Pierre-Alexandre Bliman","doi":"10.1016/j.ejcon.2025.101292","DOIUrl":"10.1016/j.ejcon.2025.101292","url":null,"abstract":"<div><div>The Sterile Insect Technique (SIT) is a promising control method against insect pests and insect vectors. It consists in releasing males previously sterilized in laboratory, in order to reduce or eliminate a specific wild population. We study the implementation of SIT-based elimination campaign of <em>Aedes</em> mosquitoes using feedback control. We provide state-feedback and output-feedback control laws and establish their convergence, as well as their robustness properties. In this design procedure, a pivotal role is played by the use of properties of monotone systems. Simple illustrative simulations are provided.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"86 ","pages":"Article 101292"},"PeriodicalIF":2.6,"publicationDate":"2025-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145645448","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 : 2025-11-01DOI: 10.1016/j.ejcon.2025.101370
Vaibhav Kumar Singh , Lorenzo Zino , Gabriel Muinos , Jacquelien M.A. Scherpen , Michele Cucuzzella
Motivated by theories and evidence from the social psychology literature, we propose a novel continuous-time mathematical model that captures the evolution of motivation and behavior of energy consumers in a social network. In our model, consumers are connected to the energy grid and their energy demand (which we shall refer to as their behavior) is affected by their personal motivation on reducing (or increasing) their energy consumption. The motivation-behavior dynamics of each consumer is modeled using a second-order continuous-time bilinear differential equation. Each consumer has the ability to share their motivation on a social network and observe the behavior of other consumers. Using the information gathered from their peers and their personal bias about the energy consumption behavior, consumers have the ability to revise their own motivation about energy consumption and, ultimately, their behavior. Moreover, we incorporate into the model an external control action that captures the implementation of external behavioral interventions that influence the weight each consumer assigns to their own bias. Then, we use the proposed framework to shed light on the collective motivation-behavior dynamics of all the consumers, establishing conditions for the existence of equilibria, characterizing them, and performing a sensitivity analysis of such equilibria with respect to variations in the steady-state interventions provided to each consumer.
{"title":"An opinion dynamics approach to model and analyze the behavior of consumers in an energy network","authors":"Vaibhav Kumar Singh , Lorenzo Zino , Gabriel Muinos , Jacquelien M.A. Scherpen , Michele Cucuzzella","doi":"10.1016/j.ejcon.2025.101370","DOIUrl":"10.1016/j.ejcon.2025.101370","url":null,"abstract":"<div><div>Motivated by theories and evidence from the social psychology literature, we propose a novel continuous-time mathematical model that captures the evolution of motivation and behavior of energy consumers in a social network. In our model, consumers are connected to the energy grid and their energy demand (which we shall refer to as their behavior) is affected by their personal motivation on reducing (or increasing) their energy consumption. The motivation-behavior dynamics of each consumer is modeled using a second-order continuous-time bilinear differential equation. Each consumer has the ability to share their motivation on a social network and observe the behavior of other consumers. Using the information gathered from their peers and their personal bias about the energy consumption behavior, consumers have the ability to revise their own motivation about energy consumption and, ultimately, their behavior. Moreover, we incorporate into the model an external control action that captures the implementation of external behavioral interventions that influence the weight each consumer assigns to their own bias. Then, we use the proposed framework to shed light on the collective motivation-behavior dynamics of all the consumers, establishing conditions for the existence of equilibria, characterizing them, and performing a sensitivity analysis of such equilibria with respect to variations in the steady-state interventions provided to each consumer.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"86 ","pages":"Article 101370"},"PeriodicalIF":2.6,"publicationDate":"2025-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145645442","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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