Probabilistic models are often used in practice to represent and reason about uncertainty. A key reasoning task over them is finding the most probable assignment to all the unobserved variables given observations. This task called the most probable explanation (MPE) task has sev…
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Designing robust controllers for uncertain systems has been an active research topic in recent years. However, most of the research efforts have been concentrated on the design of continuous-time controllers for continuous-time systems or discrete-time controllers for discrete-t…
This thesis is concerned with the choice of the uncertainty structure in robust control problems. This choice affects the optimization carried out to obtain a robust feedback controller, and determines how robust a feedback loop will be to discrepancies in the parameters or dyna…
This thesis investigates multi-agent systems problems for systems with negative imaginary dynamics. Via tools from negative imaginary theory and graph theory, this research addresses the following three multi-agent systems problems: (i) the distributed robust stabilization probl…
New technological advances and the requirements to increasingly abide by new safety laws in engineering design projects highly affects industrial products in areas such as automotive, aerospace and railway industries. The necessity arises to design reduced-cost hi-tech products …
This thesis presents alternative methods for designing a speed controller for a hydrostatic power transmission system. Recognising that such a system, comprising a valve controlled motor supplied by the laboratory ring main and driving a hydraulic pump as a load, contains signif…
Unmanned Aerial Vehicle (UAV) flight control systems must be capable of delivering the required performance while handling nonlinearities and uncertainties in the vehicle model, the atmosphere, and ambient wind. These factors necessitate the development of nonlinear flight contr…
This work deals with modeling and maximum power tracking of a stand-alone photovoltaic (PV) power generator. In the modeling part of the research, a dynamic model of a solar cell has been developed, simulated, and validated using experimental data. Effects of parameter variation…
State dependent Riccati equation (SDRE) plays an important role in nonlinear controller design. For autonomous nonlinear systems that can be expressed in linear form with state-dependent coefficients (SDC), SDRE-based controllers guarantee local asymptotic stability of the close…
This work describes the modeling, control design, and experimental verification of an electromagnetic suspension system with position feedback using infrared sensors. A nonlinear model is obtained by fitting a first principle analytical model of the system to experimental data. …
Hysteresis nonlinearity is found in many control system applications such as piezo-actuated nanopositioners. The positioner is represented as a linear system preceded by hysteresis. This hysteresis nonlinearity is usually modeled by operators in order to simulate their effects i…
This thesis develops a topological approach to robustness to incorrect-incomplete models in MDPs and POMDPs, and applications of this study to approximations, model learning and reinforcement learning.
Decentralized control problems naturally arise in the control of large-scale networked systems. Such systems are regulated by a collection of local controllers in a decentralized manner, in the sense that each local controller is required to specify its control input based on it…
The primary objective of this thesis is to leverage on the framework of H∞ loop-shaping control to formulate efficient and powerful optimization algorithms in LMI framework for the synthesis of performance loop-shaping weights. The H∞ loop-shaping design procedure is an efficien…