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pro vyhledávání: '"P, Forni"'
A theorem is proved to verify incremental stability of a feedback system via a homotopy from a known incrementally stable system. A first corollary of that result is that incremental stability may be verified by separation of Scaled Relative Graphs,
Externí odkaz:
http://arxiv.org/abs/2412.01580
Autor:
Chaffey, Thomas, Forni, Fulvio
An analogue 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 -
Externí odkaz:
http://arxiv.org/abs/2412.01579
Autor:
Zhang, Zixing Wang Yi, Forni, Fulvio
We tackle the problem of providing closed-loop stability guarantees with a scalable data-driven design. We combine virtual reference feedback tuning with dissipativity constraints on the controller for closed-loop stability. The constraints are formu
Externí odkaz:
http://arxiv.org/abs/2412.00211
Autor:
Larby, Daniel, Forni, Fulvio
Passivity-based control is a cornerstone of control theory and an established design approach in robotics. Its strength is based on the passivity theorem, which provides a powerful interconnection framework for robotics. However, the design of passiv
Externí odkaz:
http://arxiv.org/abs/2411.06627
We completely characterize rational polygons whose billiard flow is weakly mixing in almost every direction as those which are not almost integrable, in the terminology of Gutkin, modulo some low complexity exceptions. This proves a longstanding conj
Externí odkaz:
http://arxiv.org/abs/2410.11117
We show that if $\Gamma$ is a co-compact arithmetic lattice in $SL(2,\mathbb{R})$ or $\Gamma=SL(2,\mathbb{Z})$ then the horocycle orbit of every non-periodic point $x\in SL(2,\mathbb{R})/\Gamma$ equidistributes (with respect to Haar measure) when sam
Externí odkaz:
http://arxiv.org/abs/2409.16687
Motivated by work of Dolgopyat and N\'andori, we establish a general method for upgrading limit theorems for Birkhoff sums and cocycles over dynamical systems to mixing limit theorems under mild ergodicity and hyperbolicity assumptions. Building on p
Externí odkaz:
http://arxiv.org/abs/2405.16825
We illustrate the potential of neuromorphic control on the simple mechanical model of a pendulum, with both event-based actuation and sensing. The controller and the pendulum are regarded as event-based systems that occasionally interact to coordinat
Externí odkaz:
http://arxiv.org/abs/2404.05339
Publikováno v:
IEEE Control Systems Letters, vol. 8, pp. 1289-1294, 2024
We consider the design of a new class of passive iFIR controllers given by the parallel action of an integrator and a finite impulse response filter. iFIRs are more expressive than PID controllers but retain their features and simplicity. The paper p
Externí odkaz:
http://arxiv.org/abs/2403.06640
Autor:
Forni, Giovanni
This text is an introduction to the author's cohomological approach, based on Hodge theory, to (effective) unique ergodicity and weak mixing of translation flows. Compared to earlier expositions, it emphasizes the analogy between the two problems by
Externí odkaz:
http://arxiv.org/abs/2311.02714