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arXiv 2025年

作者： John, Yohan Shah, Vade Preiss, James A. Alizadeh, Mahnoosh Marden, Jason R. Center for Control Dynamical Systems and Computation The University of California Santa BarbaraCA United States

What is the performance cost of using simple, decoupled control policies in inherently coupled systems? Motivated by industrial refrigeration systems, where centralized compressors exhibit economies of scale yet traditional control employs decoupled room-by-room temperature regulation, we address this question through the lens of multi-location inventory control. Here, a planner manages multiple inventories to meet stochastic demand while minimizing costs that are coupled through nonlinear ordering functions reflecting economies of scale. Our main contributions are: (i) a surprising equivalence result showing that optimal stationary base-stock levels for individual locations remain unchanged despite the coupling when restricting attention to decoupled strategies;(ii) tight performance bounds for simple decoupled policies relative to optimal coupled policies, revealing that the worst-case ratio depends primarily on the degree of nonlinearity in the cost function and scales with the number of locations for systems with fixed costs;and (iii) analysis of practical online algorithms that achieve competitive performance without solving complex dynamic programs. Numerical simulations demonstrate that while decoupled policies significantly outperform their worst-case guarantees in typical scenarios, they still exhibit meaningful suboptimality compared to fully coordinated strategies. These results provide actionable guidance for system operators navigating the trade-off between control complexity and operational efficiency in coupled systems. © 2025, CC BY.

关键词： Stochastic systems

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Contractivity Analysis and control Design for Lur’e systems: Lipschitz, Incrementally Sector Bounded, and Monotone Nonlinearities

arXiv

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arXiv 2025年

作者： Shima, Ryotaro Davydov, Alexander Bullo, Francesco Center for Control Dynamical Systems and Computation University of California at Santa Barbara Santa BarbaraCA93106 United States

In this paper, we study the contractivity of Lur’e dynamical systems whose nonlinearity is either Lipschitz, incrementally sector bounded, or monotone. We consider both the discrete- and continuous-time settings. In each case, we provide state-independent linear matrix inequalities (LMIs) which are necessary and sufficient for contractivity. Additionally, we provide LMIs for the design of controller gains such that the closed-loop system is contracting. Finally, we provide a numerical example for control design. Copyright © 2025, The Authors. All rights reserved.

关键词： Continuous time systems

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Proximal Gradient Dynamics and Feedback control for Equality-Constrained Composite Optimization

arXiv

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arXiv 2025年

作者： Centorrino, Veronica Rossi, Francesca Bullo, Francesco Russo, Giovanni DIEM University of Salerno Italy Scuola Superiore Meridionale Italy Center for Control Dynamical Systems and Computation UC Santa Barbara CA United States

This paper studies equality-constrained composite minimization problems. This class of problems, capturing regularization terms and convex inequality constraints, naturally arises in a wide range of engineering and machine learning applications. To tackle these minimization problems, we introduce the proportional–integral proximal gradient dynamics (PI–PGD): a closed-loop system where the Lagrange multipliers are control inputs and states are the problem decision variables. First, we establish the equivalence between the minima of the optimization problem and the equilibria of the PI–PGD. Then, leveraging tools from contraction theory, we give a comprehensive convergence analysis for the dynamics, showing linear–exponential convergence towards the equilibrium. That is, the distance between each solution and the equilibrium is upper bounded by a function that first decreases linearly and then exponentially. Our findings are illustrated numerically on a set of representative examples, which include an application to entropic-regularized optimal transport. Copyright © 2025, The Authors. All rights reserved.

关键词： Lagrange multipliers

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A Stochastic Surveillance Stackelberg Game: Co-Optimizing Defense Placement and Patrol Strategy

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IEEE Transactions on Automatic control 2025年

作者： John, Yohan Díaz-García, Gilberto Duan, Xiaoming Marden, Jason R. Bullo, Francesco UC Santa Barbara Center for Control Dynamical Systems and Computation Santa BarbaraCA93106-5070 United States Shanghai Jiao Tong University Department of Automation Shanghai200240 China

Stochastic patrol routing is known to be advantageous in adversarial settings;however, the optimal choice of stochastic routing strategy is dependent on a model of the adversary. We adopt a worst-case omniscient adversary model from the literature and extend the formulation to accommodate heterogeneous defenses at the various nodes of the graph. Introducing this heterogeneity leads to interesting new patrol strategies. We identify efficient methods for computing these strategies in certain classes of graphs. We assess the effectiveness of these strategies via comparison to an upper bound on the value of the game. Finally, we leverage the heterogeneous defense formulation to develop novel defense placement algorithms that complement the patrol strategies. © 1963-2012 IEEE.

关键词： Markov processes

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Bifurcation curves for electrical DC motors 2

Bifurcation curves for electrical DC motors

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2nd IEEE International Conference on Power Electronics, Intelligent control and Energy systems, ICPEICES 2018

作者： Valluru, Sudarshan K Singh, Madhusudan Verma, Aditya Gupta, Anshul Delhi Technological University Incubation Center for Control Dynamical Systems and Computation Delhi110042 India

ISBN: (纸本)9781538666258

This paper studies the numerical bifurcation analysis of three different types of DC Motor namely DC Series Motor, DC Shunt Motor, and permanent magnet DC (PMDC) motor. The bifurcation curves' role is to exemplify the bifurcation behavior in the motors while changing one of the parameters keeping other parameters constant for bifurcation curves. The variable parameter is along the abscissa, while the machine states are along the ordinate of the bifurcation curve. The mathematical models of DC Series Motor, DC Shunt Motor and PMDC Motor are first derived, which are suitable for bifurcation curves. Then, the effect of the input voltage and constant external torque on the motors are studied, and bifurcation curves are plotted with input voltage as a control parameter. © 2018 IEEE.

关键词： DC motors

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Design of multi-loop L-PID and NL-PID controllers: An experimental validation 2

Design of multi-loop L-PID and NL-PID controllers: An experi...

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2nd IEEE International Conference on Power Electronics, Intelligent control and Energy systems, ICPEICES 2018

作者： Valluru, Sudarshan K. Singh, Madhusudan Goel, Arnav Kaur, Manpreet Dobhal, Daksh Kartikeya, Kumar Verma, Aditya Gupta, Anshul Delhi Technological University Incubation Center for Control Dynamical Systems and Computation Delhi110042 India

ISBN: (纸本)9781538666258

The three-term PID controllers are significantly used in most of the benchmarked systems as controllers. However, the benchmarked Single Input Multiple Output (SIMO) systems may require more than one PID controllers in the control loops, the way to design PID controllers is not an easy task. Although, the linear PID (L-PID) controllers are not yielded a satisfactory control results for a benchmarked system due to the presence of inherent nonlinearities. In order to improve performance, the linear PID controllers are modified by nonlinear characteristics. In this paper, the linear and nonlinear PID (NL-PID) controllers are implemented for the stabilization and control of Gantry Crane System as a test problem. The experimental results prove that the multi-loop NL-PID controllers exhibit more robustness to outer large with fast external disturbances. The L-PID and NL-PID controllers are compared to find out the best controller, which gives optimum responses and can also handle external disturbances. © 2018 IEEE.

关键词： controllers

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Experimental Investigation of Fully Informed Particle Swarm Optimization tuned Multi Loop L-PID and NL-PID controllers for Gantry Crane System 3

Experimental Investigation of Fully Informed Particle Swarm ...

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3rd International Conference on Computing and Network Communications, CoCoNet 2019

作者： Valluru, Sudarshan K. Kaur, Manpreet Kartikeya, Kumar Goel, Arnav Dobhal, Daksh Incubation Center for Control Dynamical Systems and Computation Department of Electrical Engineering Delhi Technological University Delhi110042 India

This paper presents a novel stabilizing nonlinear PID controller with real time experimental validation on a gantry crane system. Our adaptive control technique describes the underactuated system as a nonlinear mapping of control signal with the hyperbolic tangent function. The proposed function is used to impose a constraint on the proportional, integral and derivative errors such that the system results an effective and robust performance. The main trait of the controller is to bound the high control error to result in a lesser correction value. An enhanced hybrid method based on the bioinspired meta-heuristic algorithm Particle Swarm Optimisation is utilised to tune the gain coefficients Kpδ, KIδ and KDδ. The Linear controller and the proposed controllers were compared based on the stabilizing action on the real time system. The real time results depict that the nonlinear PID performs better than the conventional PID. © 2020 The Authors. Published by Elsevier B.V.

关键词： controllers

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Design and experimental implementation of multi-loop LQR, PID, and LQG controllers for the trajectory tracking control of twin rotor MIMO system 3rd

Design and experimental implementation of multi-loop LQR, PI...

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3rd International Conference on Intelligent Communication, control and Devices, ICICCD 2018

作者： Valluru, Sudarshan K. Singh, Madhusudan Ayush Dharavath, Abhiraj Department of Electrical Engineering Incubation Center for Control Dynamical Systems and Computation Delhi Technological University New DelhiDelhi110042 India

ISBN: (纸本)9789811386176

One DOF (degree of freedom) Twin Rotor multi-input multi-output system (TRMS) is one of the benchmarked dynamical systems which has striking comparability with Helicopter. Design of controllers for such complex air vehicle is a daunting task as it has inherent nonlinearities and cross-coupling between its main and tail rotors. Therefore, it is an interesting laboratory benchmarked control problem, to test the performance of various controllers. The control techniques focused in this paper are the experimental implementation of multi-loop controllers such as Linear Quadratic Regulator (LQR), linear proportional integral derivative (L-PID), and Linear Quadratic Gaussian (LQG) controllers on TRMS system to verify the performance of these controllers. © Springer Nature Singapore Pte Ltd. 2020.

关键词： controllers

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Multi-objective genetic and adaptive particle swarm optimization algorithms: A performance analysis with benchmark functions 2

Multi-objective genetic and adaptive particle swarm optimiza...

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2nd IEEE International Conference on Power Electronics, Intelligent control and Energy systems, ICPEICES 2018

作者： Kvalluru, Sudarshan Singh, Madhusudan Delhi Technological University Incubation Center for Control Dynamical Systems Delhi110042 India

ISBN: (纸本)9781538666258

The multi-objective genetic algorithm(Moga) and adaptive particle swarm optimization(APSO) algorithm are new variants of natural population-based search methods with the effective capability to solve extremely nonlinear mixed integer optimized complex engineering problems. This paper attempts to examine the performance and convergence analysis for Moga and APSO algorithm with benchmarked test functions namely Rosen Brock, Six Hump Camel Back, Goldstein-Price's and Rastrigin. The numerical simulation results indicate the adaptive particle swarm optimization algorithm was able to find the best solutions than a multi-objective genetic algorithm. © 2018 IEEE.

关键词： Particle swarm optimization (PSO)

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Experimental validation of fully informed particle swarm optimization tuned multi-loop L-PID controllers for stabilization of gantry crane system 3rd

Experimental validation of fully informed particle swarm opt...

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3rd International Conference on Intelligent Communication, control and Devices, ICICCD 2018

作者： Valluru, Sudarshan K. Singh, Madhusudan Dobhal, Daksh Kartikeya, Kumar Kaur, Manpreet Goel, Arnav Department of Electrical Engineering Incubation Center for Control Dynamical Systems and Computation Delhi Technological University New DelhiDelhi110042 India

ISBN: (纸本)9789811386176

Linear PID controllers are commonly used as an electrical component to decrease the error between anticipated set value and actual measured values for control of various benchmarked systems. The Multi-Loop Linear PID (ML-PID) controller, gives a robust and efficient performance in most of the situations. This paper presents the implementation of linear PID controller to stabilize and control the Gantry Crane System. Optimal performance is obtained for a few specific combinations of the proportional, integral, and derivative gains, which makes it essential to tune these values through Optimization techniques. The Fully Informed Particle Swarm Optimizer (FIPSO) is used to tune the gain values of the ML-PID controlled Gantry Crane System. These values are validated experimentally, and obtained results prove that the FIPSO tuned multi-loop linear PID controller quickly stabilizes the system subjected to external disturbances. © Springer Nature Singapore Pte Ltd. 2020.

关键词： controllers

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