Pub Date : 2025-11-01DOI: 10.1016/j.ejcon.2025.101322
Giovanni Campanile , Vittoria Martinelli , Davide Salzano , Davide Fiore , Mario di Bernardo
Metabolic burden is a critical limiting factor in the design of synthetic circuits, affecting both their reliability and performance. To mitigate its effects, distributing control functions across different cell populations within a multicellular control architecture offers a promising solution, while simultaneously enhancing modularity and re-usability of the circuits. We first present a model that explicitly accounts for limited ribosome availability within cells. Using this framework, we then derive a mathematical model of a multicellular antithetic integral controller that incorporates these shared resources. Through numerical bifurcation analysis and in silico agent-based experiments in BSim, we compare the multicellular controller against its traditional single-cell (embedded) implementation, evaluating both resource utilization and stability.
{"title":"In silico analysis of metabolic burden effects on a multicellular integral controller","authors":"Giovanni Campanile , Vittoria Martinelli , Davide Salzano , Davide Fiore , Mario di Bernardo","doi":"10.1016/j.ejcon.2025.101322","DOIUrl":"10.1016/j.ejcon.2025.101322","url":null,"abstract":"<div><div>Metabolic burden is a critical limiting factor in the design of synthetic circuits, affecting both their reliability and performance. To mitigate its effects, distributing control functions across different cell populations within a multicellular control architecture offers a promising solution, while simultaneously enhancing modularity and re-usability of the circuits. We first present a model that explicitly accounts for limited ribosome availability within cells. Using this framework, we then derive a mathematical model of a multicellular antithetic integral controller that incorporates these shared resources. Through numerical bifurcation analysis and <em>in silico</em> agent-based experiments in BSim, we compare the multicellular controller against its traditional single-cell (embedded) implementation, evaluating both resource utilization and stability.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"86 ","pages":"Article 101322"},"PeriodicalIF":2.6,"publicationDate":"2025-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145645416","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.2025.101399
{"title":"Special Issue on the European Control Conference 2025","authors":"","doi":"10.1016/j.ejcon.2025.101399","DOIUrl":"10.1016/j.ejcon.2025.101399","url":null,"abstract":"","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"86 ","pages":"Article 101399"},"PeriodicalIF":2.6,"publicationDate":"2025-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145645444","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.2025.101291
Debraj Bhattacharjee , Mohammad Fahim Shakib , Alessandro Astolfi
We study the foreground–background separation problem for a video stream in the moment matching framework. We first show how a video stream can be represented as the steady-state output of a dynamical system. We then leverage this technique to reconstruct image sequences in a video stream. In addition, we show that foreground–background separation is a special case of this reconstruction algorithm. Finally, we highlight the computational benefits of the proposed method when compared to other methods that associate a sequence of images with a dynamical system.
{"title":"Foreground–background separation and video reconstruction using moment matching","authors":"Debraj Bhattacharjee , Mohammad Fahim Shakib , Alessandro Astolfi","doi":"10.1016/j.ejcon.2025.101291","DOIUrl":"10.1016/j.ejcon.2025.101291","url":null,"abstract":"<div><div>We study the foreground–background separation problem for a video stream in the moment matching framework. We first show how a video stream can be represented as the steady-state output of a dynamical system. We then leverage this technique to reconstruct image sequences in a video stream. In addition, we show that foreground–background separation is a special case of this reconstruction algorithm. Finally, we highlight the computational benefits of the proposed method when compared to other methods that associate a sequence of images with a dynamical system.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"86 ","pages":"Article 101291"},"PeriodicalIF":2.6,"publicationDate":"2025-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145645599","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.2025.101304
Jan H. Hoekstra , Chris Verhoek , Roland Tóth , Maarten Schoukens
Nonlinear system identification (NL-SI) has proven to be effective in obtaining accurate models for highly complex systems. In particular, recent encoder-based methods for artificial neural network state-space (ANN-SS) models have achieved state-of-the-art performance on various benchmarks, while offering consistency and computational efficiency. Inclusion of prior knowledge of the system can be exploited to increase (i) estimation speed, (ii) accuracy, and (iii) interpretability of the resulting models. This paper proposes an encoder-based model augmentation method that incorporates prior knowledge from first-principles (FP) models. We introduce a novel linear-fractional-representation (LFR) model structure that allows for the unified representation of various augmentation structures including the ones that are commonly used in the literature, and an identification algorithm for estimating the proposed structure together with appropriate initialization methods. The performance and generalization capabilities of the proposed method are demonstrated in the identification of a hardening mass–spring-damper system simulation case study and the Bouc-Wen nonlinear system identification benchmark.
{"title":"Learning-based model augmentation with LFRs","authors":"Jan H. Hoekstra , Chris Verhoek , Roland Tóth , Maarten Schoukens","doi":"10.1016/j.ejcon.2025.101304","DOIUrl":"10.1016/j.ejcon.2025.101304","url":null,"abstract":"<div><div><em>Nonlinear system identification</em> (NL-SI) has proven to be effective in obtaining accurate models for highly complex systems. In particular, recent encoder-based methods for <em>artificial neural network state-space</em> (ANN-SS) models have achieved state-of-the-art performance on various benchmarks, while offering consistency and computational efficiency. Inclusion of prior knowledge of the system can be exploited to increase (i) estimation speed, (ii) accuracy, and (iii) interpretability of the resulting models. This paper proposes an encoder-based model augmentation method that incorporates prior knowledge from <em>first-principles</em> (FP) models. We introduce a novel <em>linear-fractional-representation</em> (LFR) model structure that allows for the unified representation of various augmentation structures including the ones that are commonly used in the literature, and an identification algorithm for estimating the proposed structure together with appropriate initialization methods. The performance and generalization capabilities of the proposed method are demonstrated in the identification of a hardening mass–spring-damper system simulation case study and the Bouc-Wen nonlinear system identification benchmark.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"86 ","pages":"Article 101304"},"PeriodicalIF":2.6,"publicationDate":"2025-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145645604","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.2025.101339
Denis Efimov , Emilia Fridman
For an even power convex or concave function of a scalar variable having a global and unique extremum, an algorithm of the extremum seeking is proposed, which does not use any dither excitation signal, hence, being asymptotically exact, and it is based on online time derivative estimation of the measured output. Two approaches are discussed, first, with utilization of the super-twisting differentiator, and second, where the derivative is estimated via the time-delay method. For analysis of the latter, an extension of the invariance principle is formulated for functional differential inclusions. The efficiency of the suggested extremum seeking algorithms is illustrated through numeric experiments.
{"title":"An extremum seeking algorithm for 1D static maps with delay-based derivative estimation","authors":"Denis Efimov , Emilia Fridman","doi":"10.1016/j.ejcon.2025.101339","DOIUrl":"10.1016/j.ejcon.2025.101339","url":null,"abstract":"<div><div>For an even power convex or concave function of a scalar variable having a global and unique extremum, an algorithm of the extremum seeking is proposed, which does not use any dither excitation signal, hence, being asymptotically exact, and it is based on online time derivative estimation of the measured output. Two approaches are discussed, first, with utilization of the super-twisting differentiator, and second, where the derivative is estimated via the time-delay method. For analysis of the latter, an extension of the invariance principle is formulated for functional differential inclusions. The efficiency of the suggested extremum seeking algorithms is illustrated through numeric experiments.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"86 ","pages":"Article 101339"},"PeriodicalIF":2.6,"publicationDate":"2025-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145645530","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.2025.101310
Thomas Chaffey , Fulvio Forni
An analog of the describing function method is developed using square waves rather than sinusoids. Static nonlinearities map square waves to square waves, and their behavior is characterized by their response to square waves of varying amplitude — their amplitude response. The output of an LTI system to a square wave input is approximated by a square wave, to give an analog of the describing function. The classical describing function method for predicting oscillations in feedback interconnections is generalized to this square wave setting, and gives accurate predictions when oscillations are approximately square.
{"title":"Amplitude response and square wave describing functions","authors":"Thomas Chaffey , Fulvio Forni","doi":"10.1016/j.ejcon.2025.101310","DOIUrl":"10.1016/j.ejcon.2025.101310","url":null,"abstract":"<div><div>An analog of the describing function method is developed using square waves rather than sinusoids. Static nonlinearities map square waves to square waves, and their behavior is characterized by their response to square waves of varying amplitude — their <em>amplitude response</em>. The output of an LTI system to a square wave input is approximated by a square wave, to give an analog of the describing function. The classical describing function method for predicting oscillations in feedback interconnections is generalized to this square wave setting, and gives accurate predictions when oscillations are approximately square.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"86 ","pages":"Article 101310"},"PeriodicalIF":2.6,"publicationDate":"2025-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145645611","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.2025.101297
Marek Wadinger, Rastislav Fáber, Erika Pavlovičová, Radoslav Paulen
This paper presents a comprehensive framework aimed at enhancing education in modeling, optimal control, and nonlinear Model Predictive Control (MPC) through a practical greenhouse climate control model. The framework includes a detailed mathematical model of lettuce growth and greenhouse environment, which are influenced by real-time external weather conditions obtained via an application programming interface (API). Using this data, the MPC-based approach dynamically adjusts greenhouse conditions, optimizing plant growth and energy consumption and minimizing the social cost of CO2. The presented results demonstrate the effectiveness of this approach in balancing energy use with crop yield and reducing CO2 emissions, contributing to economic efficiency and environmental sustainability. The framework also provides a valuable resource for making control systems education more engaging and effective. The main aim is to provide students with a hands-on platform to understand the principles of modeling, the power of MPC and the trade-offs between profitability and sustainability in agricultural systems. The framework gives students a hands-on experience, helping them to understand the control theory better, connecting it to the practical implementation, and developing their problem-solving skills. It can be accessed at ecompc4greenhouse.streamlit.app.
{"title":"Carbon neutral greenhouse: Economic model predictive control framework for education","authors":"Marek Wadinger, Rastislav Fáber, Erika Pavlovičová, Radoslav Paulen","doi":"10.1016/j.ejcon.2025.101297","DOIUrl":"10.1016/j.ejcon.2025.101297","url":null,"abstract":"<div><div>This paper presents a comprehensive framework aimed at enhancing education in modeling, optimal control, and nonlinear Model Predictive Control (MPC) through a practical greenhouse climate control model. The framework includes a detailed mathematical model of lettuce growth and greenhouse environment, which are influenced by real-time external weather conditions obtained via an application programming interface (API). Using this data, the MPC-based approach dynamically adjusts greenhouse conditions, optimizing plant growth and energy consumption and minimizing the social cost of CO<sub>2</sub>. The presented results demonstrate the effectiveness of this approach in balancing energy use with crop yield and reducing CO<sub>2</sub> emissions, contributing to economic efficiency and environmental sustainability. The framework also provides a valuable resource for making control systems education more engaging and effective. The main aim is to provide students with a hands-on platform to understand the principles of modeling, the power of MPC and the trade-offs between profitability and sustainability in agricultural systems. The framework gives students a hands-on experience, helping them to understand the control theory better, connecting it to the practical implementation, and developing their problem-solving skills. It can be accessed at <span><span>ecompc4greenhouse.streamlit.app</span><svg><path></path></svg></span>.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"86 ","pages":"Article 101297"},"PeriodicalIF":2.6,"publicationDate":"2025-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145645542","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}
In this paper, a novel ramp metering control with constraints compliance is introduced for a road traffic system with uncertain demand. The uncertain part of the flow entering the on-ramps is estimated relying on Integral Sliding Mode (ISM) based Unknown Input Observers (UIOs). The estimation is then employed in a Quadratic Programming (QP) problem, where constraints on queue lengths at the on-ramps are included via suitable Control Barrier Functions (CBFs). This results in an original approach that ensures adherence to queue length constraints by design, even under uncertain on-ramp demand conditions. The proposal is theoretically analyzed and assessed in simulation relying on the Cell Transmission Model (CTM) suitably extended to encompass the capacity drop effect. Simulation-based evaluations confirm the effectiveness of the proposed approach.
{"title":"Constrained ramp metering control based on sliding mode unknown input observers","authors":"Nikolas Sacchi , Michele Cucuzzella , Antonella Ferrara","doi":"10.1016/j.ejcon.2025.101369","DOIUrl":"10.1016/j.ejcon.2025.101369","url":null,"abstract":"<div><div>In this paper, a novel ramp metering control with constraints compliance is introduced for a road traffic system with uncertain demand. The uncertain part of the flow entering the on-ramps is estimated relying on Integral Sliding Mode (ISM) based Unknown Input Observers (UIOs). The estimation is then employed in a Quadratic Programming (QP) problem, where constraints on queue lengths at the on-ramps are included via suitable Control Barrier Functions (CBFs). This results in an original approach that ensures adherence to queue length constraints by design, even under uncertain on-ramp demand conditions. The proposal is theoretically analyzed and assessed in simulation relying on the Cell Transmission Model (CTM) suitably extended to encompass the capacity drop effect. Simulation-based evaluations confirm the effectiveness of the proposed approach.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"86 ","pages":"Article 101369"},"PeriodicalIF":2.6,"publicationDate":"2025-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145645441","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 : 2025-10-30DOI: 10.1016/j.ejcon.2025.101407
Taewan Kim, Behçet Açıkmeşe
Funnel synthesis refers to a procedure for synthesizing a time-varying controlled invariant set and an associated control law around a nominal trajectory. The computation of the funnel involves solving a continuous-time differential equation or inequality, ensuring the invariance of the funnel. Previous approaches often compromise the invariance property of the funnel; for example, they may enforce the equation or the inequality only at discrete temporal nodes and do not have a formal guarantee of invariance at all times. This paper proposes a computational funnel synthesis method that can satisfy the invariance of the funnel without such compromises. We derive a finite number of linear matrix inequalities (LMIs) that imply the satisfaction of a continuous-time differential linear matrix inequality guaranteeing the invariance of the funnel at all times from the initial to the final time. To this end, we utilize LMI conditions ensuring matrix copositivity, which then imply continuous-time invariance. The primary contribution of the paper is to prove that the resulting funnel is indeed invariant over a finite time horizon. We validate the proposed method via a three-dimensional trajectory planning and control problem with obstacle avoidance constraints, and a six-degree-of-freedom powered descent guidance.
{"title":"Funnel synthesis via LMI copositivity conditions for nonlinear systems","authors":"Taewan Kim, Behçet Açıkmeşe","doi":"10.1016/j.ejcon.2025.101407","DOIUrl":"10.1016/j.ejcon.2025.101407","url":null,"abstract":"<div><div>Funnel synthesis refers to a procedure for synthesizing a time-varying controlled invariant set and an associated control law around a nominal trajectory. The computation of the funnel involves solving a continuous-time differential equation or inequality, ensuring the invariance of the funnel. Previous approaches often compromise the invariance property of the funnel; for example, they may enforce the equation or the inequality only at discrete temporal nodes and do not have a formal guarantee of invariance at all times. This paper proposes a computational funnel synthesis method that can satisfy the invariance of the funnel without such compromises. We derive a finite number of linear matrix inequalities (LMIs) that imply the satisfaction of a continuous-time differential linear matrix inequality guaranteeing the invariance of the funnel at all times from the initial to the final time. To this end, we utilize LMI conditions ensuring matrix copositivity, which then imply continuous-time invariance. The primary contribution of the paper is to prove that the resulting funnel is indeed invariant over a finite time horizon. We validate the proposed method via a three-dimensional trajectory planning and control problem with obstacle avoidance constraints, and a six-degree-of-freedom powered descent guidance.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"86 ","pages":"Article 101407"},"PeriodicalIF":2.6,"publicationDate":"2025-10-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145466460","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 : 2025-10-28DOI: 10.1016/j.ejcon.2025.101408
Atefeh Behnia, Mohammad Hossein Shafiei
This paper proposes a novel framework for designing an adaptive event-triggered output feedback controller for discrete-time systems with parametric uncertainty. The framework is developed using two distinct methodologies. The first approach decouples the design process: the output feedback gain is predefined independently of the event-triggered control (ETC) mechanism, followed by the synthesis of an excitation event law to guarantee closed-loop stability. The second, more integrated approach (the co-design method) simultaneously designs both the output feedback controller and the adaptive event-triggered control (AETC) law. The AETC law features an innovative adaptive update mechanism designed to preserve closed-loop performance while maximizing the average inter-event interval, thereby reducing communication and computational overhead. Simulation results reveal that the proposed co-design approach achieves reduction in control updates and improvement in RMS regulation error compared to conventional methods, demonstrating superior performance and efficient resource utilization.
{"title":"Emulation and co-design approaches for adaptive event-triggered output feedback control of discrete-time nonlinear systems","authors":"Atefeh Behnia, Mohammad Hossein Shafiei","doi":"10.1016/j.ejcon.2025.101408","DOIUrl":"10.1016/j.ejcon.2025.101408","url":null,"abstract":"<div><div>This paper proposes a novel framework for designing an adaptive event-triggered output feedback controller for discrete-time systems with parametric uncertainty. The framework is developed using two distinct methodologies. The first approach decouples the design process: the output feedback gain is predefined independently of the event-triggered control (ETC) mechanism, followed by the synthesis of an excitation event law to guarantee closed-loop stability. The second, more integrated approach (the co-design method) simultaneously designs both the output feedback controller and the adaptive event-triggered control (AETC) law. The AETC law features an innovative adaptive update mechanism designed to preserve closed-loop performance while maximizing the average inter-event interval, thereby reducing communication and computational overhead. Simulation results reveal that the proposed co-design approach achieves reduction in control updates and improvement in RMS regulation error compared to conventional methods, demonstrating superior performance and efficient resource utilization.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"86 ","pages":"Article 101408"},"PeriodicalIF":2.6,"publicationDate":"2025-10-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145466459","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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