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This monograph is focused on control law design methods for asymptotic tracking and disturbance rejection in the presence of uncertainties. The methods are based on adaptive implementation of the Internal Model Principle (IMP). The monograph shows how this principle can be applied to the problems of asymptotic rejection/tracking of a priori uncertain exogenous signals for linear and nonlinear plants with known and unknown parameters. The book begins by introducing the problems of adaptive control, the challenges that are faced, modern methods and an overview of the IMP. It then introduces special observers for uncertain exogeneous signals affecting linear and nonlinear systems with known and unknown parameters. The basic algorithms of adaptation applied to the canonical closed-loop error models are presented. The authors then address the systematic design of adaptive systems for asymptotic rejection/tracking of a priori uncertain exosignals. The monograph also discusses the adaptive rejection/tracking of a priori uncertain exogenous signals in systems with input delay, the problems of performance improvement in disturbance rejection and reference tracking and the issue of robustness of closed-loop systems. Adaptive Regulation provides a systematic discussion of the IMP applied to a variety of control problems, making it of interest to researchers and industrial practitioners.

This book comprises a set of chapters that introduce various topics pertinent to novel approaches towards enhancing cyber-physical measures for increased security and resilience levels in control systems. The unifying theme of these approaches lies in the utilization of knowledge and models of the physical systems, rather than an attempt to reinvigorate conventional IT-based security measures.The contributing authors present perspectives on network security, game theory, and control, as well as views on how these disciplines can be combined to design resilient, safe, and secure control systems. The book explores how attacks in different forms, such as false data injections and denial-of-service can be very harmful, and may not be detected unless the security measures exploit the physical models.  Several applications are discussed, power systems being considered most thoroughly. Because of its interdisciplinary nature-techniques from systems control, game theory, signal processing and computer science all make contributions-Security and Resilience of Control Systems will be of interest to academics, practitioners and graduate students with a broad spectrum of interests.

Distributed Coordination Theory for Robot Teams develops control algorithms to coordinate the motion of autonomous teams of robots in order to achieve some desired collective goal. It provides novel solutions to foundational coordination problems, including distributed algorithms to make quadrotor helicopters rendezvous and to make ground vehicles move in formation along circles or straight lines. The majority of the algorithms presented in this book can be implemented using on-board cameras.The book begins with an introduction to coordination problems, such as rendezvous of flying robots, and modelling. It then provides a solid theoretical background in basic stability, graph theory and control primitives. The book discusses the algorithmic solutions for numerous distributed control problems, focusing primarily on flying robotics and kinematic unicycles. Finally, the book looks to the future, and suggests areas discussed which could be pursued in further research.This book will provide practitioners, researchers and students in the field of control and robotics new insights in distributed multi-agent systems.

1. Introduction.- 2. Fault Tolerance in Networked Control Systems by Flexible Task Assignment.- 3. Resilient Control under Denial-of-Service: Results and Research Directions.- 4. Stealthy False Data Injection Attacks in Feedback Systems Revisited.- 5. Detection of Attacks in Cyber-Physical Systems: Theory and Applications.- 6. Security Metrics for Control Systems.- 7. The Secure State Estimation Problem.- 8. A Survey on Watermark Design For Cyber-Physical Systems.- 9. Detection of Cyber-Attacks: a Multiplicative Watermarking Scheme.- 9. Differentially Private Anomaly Detection for Interconnected Systems.- 10. Remote State Estimation in the Presence of an Eavesdropper.- 11. Secure Networked Control Systems Design using semi-homomorphic Encryption.- 12. Deception-As-Defense Framework for Cyber-Physical Systems.- 13. Cyber Risk: CPS vs. ITS.- 14. Cyber Insurance.- 15. Conclusions.

This book, published in honor of Professor Laurent Praly on the occasion of his 65th birthday, explores the responses of some leading international authorities to new challenges in nonlinear and adaptive control.

This book extrapolates many of the concepts that are well defined for discrete-time deterministic sliding-mode control for use with discrete-time stochastic systems.

Advances in H Control Theory is concerned with state-of-the-art developments in three areas:the extended treatment of mostly deterministic switched systems with dwell-time;the control of retarded stochastic state-multiplicative noisy systems;

Part I: Control Design, Observation, and Identification.- Linear Observer Synthesis for Nonlinear Systems.- Linear Predictors for Nonlinear Dynamical Systems.- Global Stability Analysis.- Pulse-based Optimal Control.- Parameter Estimation and Identification of Nonlinear Systems.- Koopman Spectrum and Stability of Cascaded Dynamical Systems.- Open and Closed Loop Control of PDEs via Switched Systems and Koopman operator based reduced order models.- Part II: Data-Driven Analysis.- Data-driven Approximations of Dynamical Systems Operators for Control.- Operator Theoretic-based Data-driven Approach for Optimal Stabilization of Nonlinear System.- Manifold Learning for Data-Driven Dynamical Systems Analysis.- Use of Data-Driven Koopman Spectrum Computation and Delay Embedding.- Part III: Applications.- Modeling of Advective Heat Transfer in a Practical Building Atrium via Koopman Mode Decomposition.- Phase-amplitude Reduction of Limit-cycling Systems.- Exploiting Effects of Network Topology on Performance in Nonlinear Consensus Networks.- Koopman Operators in Embedded Control.

The book includes an in-depth discussion and computational analysis of hybrid system identification problems, moving from the basic questions of the definition of hybrid systems and system identification to methods of hybrid system identification and the estimation of switched linear/affine and piecewise affine models.

This book investigates the performance limitation issues in networked feedback systems. The fact that networked feedback systems consist of control and communication devices and systems calls for the integration of control theory and information theory.

This edited volume includes thoroughly collected on sensing and control for autonomous vehicles. There is a growing interest for cooperative and coordinated multi-vehicle systems, real-time re-planning, robust autonomous navigation systems and robust autonomous control of vehicles.

This book bridges the gap between system theory and global climate change research, and benefits both. A representative set of systems problems is listed indicating how such cross-fertilization would enhance present understanding of global problems while assisting the extension of systems theory.

This book describes different methods that are relevant to the development and testing of control algorithms for advanced driver assistance systems (ADAS) and automated driving functions (ADF).

Dynamic Programming for Impulse Feedback and Fast Controls offers a description of feedback control in the class of impulsive inputs. This book deals with the problem of closed-loop impulse control based on generalization of dynamic programming techniques in the form of variational inequalities of the Hamilton-Jacobi-Bellman type. It provides exercises and examples in relation to software, such as techniques for regularization of ill-posed problems. It also gives an introduction to applications such as hybrid dynamics, control in arbitrary small time, and discontinuous trajectories.This book walks the readers through:the design and description of feedback solutions for impulse controls;the explanation of impulses of higher order that are derivatives of delta functions;the description of their physically realizable approximations - the fast controls and their approximations;the treatment of uncertainty in impulse control and the applications of impulse feedback.Of interest to both academics and graduate students in the field of control theory and applications, the book also protects users from common errors , such as inappropriate solution attempts, by indicating Hamiltonian techniques for hybrid systems with resets.

This book presents high-quality original contributions on positive systems, including those with positivity in compartmental switched systems, Markovian jump systems, Boolean networks, interval observer design, fault detection, and delay systems.

Optimal Impulsive Control explores the class of impulsive dynamic optimization problems-problems that stem from the fact that many conventional optimal control problems do not have a solution in the classical setting-which is highly relevant with regard to engineering applications.

This book describes different methods that are relevant to the development and testing of control algorithms for advanced driver assistance systems (ADAS) and automated driving functions (ADF).

Stochastic Recursive Algorithms for Optimization presents algorithms for constrained and unconstrained optimization and for reinforcement learning.

This edited volume includes thoroughly collected on sensing and control for autonomous vehicles. There is a growing interest for cooperative and coordinated multi-vehicle systems, real-time re-planning, robust autonomous navigation systems and robust autonomous control of vehicles.

The purpose of the Conference on Optimal Control of Partial Differential Equations was to bring together leading experts in this field and to exchange ideas and information about recent advances in control theory connected with partial differential equations.

This volume presents research directions, including: stability analysis of nonlinear dynamical systems and converse Lyapunov theorems; stabilization and regulation of nonlinear dynamical control systems; and control of physical systems using physics-based Lyapunov functions and passivity.

These notes are an introduction to implicit models of linear dynamical systems, with applications to modelling, control system design, and identification, intended for control-system engineers at the beginning graduate level.

The three Workshops on Control Mechanics held annually since 1988 at the University of Southern California made substantial contribution to the above set of topics and have established a tradition in the interface between mechanics and control.