IFAC Journal of Systems and Control最新文献

Dissipative boundary control of a 2-D Navier Stokes equation with polytopic uncertainties in the form of port-Hamiltonian formulation 具有多面体不确定性的二维Navier Stokes方程的port- hamilton公式的耗散边界控制

IF 1.9

IFAC Journal of Systems and Control Pub Date : 2026-09-01 DOI: 10.1016/j.ifacsc.2026.100441

Fernando E. Serrano, Vicenc Puig, Jesús Muñoz Pacheco

引用次数: 0

A design criterion for extended state observers for step-disturbance estimation 阶跃扰动估计中扩展状态观测器的设计准则

IF 1.9

IFAC Journal of Systems and Control Pub Date : 2026-09-01 Epub Date: 2026-09-02 DOI: 10.1016/j.ifacsc.2026.100442

Noritaka Kinjo, Shin Kawai, Triet Nguyen-Van

{"title":"A design criterion for extended state observers for step-disturbance estimation","authors":"Noritaka Kinjo, Shin Kawai, Triet Nguyen-Van","doi":"10.1016/j.ifacsc.2026.100442","DOIUrl":"10.1016/j.ifacsc.2026.100442","url":null,"abstract":"<div><div>This paper develops a design criterion for continuous-time extended state observers (ESOs) that quantifies the estimation-error energy induced by step-like disturbances under stochastic uncertainty. For absolutely continuous disturbance variations, the induced estimation-error energy is shown to admit an upper bound characterized by the <span><math><msub><mrow><mi>H</mi></mrow><mrow><mn>2</mn></mrow></msub></math></span> norm of the transfer from the disturbance variation to the estimation error. A step disturbance is then treated as the limit of a sequence generated by an approximation identity, and the corresponding finite-horizon estimation-error energy is characterized exactly in this limit. The corresponding long-horizon limit is shown to be characterized by the <span><math><msub><mrow><mi>H</mi></mrow><mrow><mn>2</mn></mrow></msub></math></span> norm of the transfer function from the disturbance variation to the augmented-state estimation error. The analysis is further extended to an Ito-type stochastic system with process and measurement noise, where the finite-horizon expected estimation-error energy is decomposed into a disturbance-induced mean-response term and a noise-induced covariance term. Based on this finite-horizon characterization, a long-horizon approximate design criterion consisting of an <span><math><msub><mrow><mi>H</mi></mrow><mrow><mn>2</mn></mrow></msub></math></span> term and a steady-state covariance term is introduced. The observer gain minimizing the approximate criterion is shown to be characterized by an algebraic Riccati equation. Numerical simulations validate the proposed limiting finite-horizon characterization by comparing analytical values with Monte Carlo sample means and illustrate the approximate criterion as a design-oriented surrogate.</div></div>","PeriodicalId":29926,"journal":{"name":"IFAC Journal of Systems and Control","volume":"37 ","pages":"Article 100442"},"PeriodicalIF":1.9,"publicationDate":"2026-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148941092","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

On the initial value set under a single state bound in autonomous LTI systems 自主LTI系统单状态界下的初值集

IF 1.9

IFAC Journal of Systems and Control Pub Date : 2026-09-01 Epub Date: 2026-08-29 DOI: 10.1016/j.ifacsc.2026.100443

Simon Kappenstein, Lutz Gröll, Veit Hagenmeyer

引用次数: 0

On the numerical optimization of differential LMI via piece wise quadratic functions 基于分段二次函数的微分LMI数值优化研究

IF 1.8

IFAC Journal of Systems and Control Pub Date : 2026-06-01 Epub Date: 2026-06-09 DOI: 10.1016/j.ifacsc.2026.100430

B. Bhiri , I-Alexandru. Ivan

引用次数: 0

Robust Constrained Optimization via Sliding Mode Control 基于滑模控制的鲁棒约束优化

IF 1.8

IFAC Journal of Systems and Control Pub Date : 2026-06-01 Epub Date: 2026-06-09 DOI: 10.1016/j.ifacsc.2026.100429

Shyam Kamal , Baby Diana , Sunidhi Pandey , Sandip Ghosh , Thach Ngoc Dinh

{"title":"Robust Constrained Optimization via Sliding Mode Control","authors":"Shyam Kamal , Baby Diana , Sunidhi Pandey , Sandip Ghosh , Thach Ngoc Dinh","doi":"10.1016/j.ifacsc.2026.100429","DOIUrl":"10.1016/j.ifacsc.2026.100429","url":null,"abstract":"<div><div>This paper develops a sliding mode control-based framework for equality-constrained optimization by reformulating the first-order Karush–Kuhn–Tucker (KKT) conditions as a control-affine dynamical system. The optimization variables are treated as states and the Lagrange multipliers as control inputs, with equality constraints defining the sliding manifold. The resulting design guarantees exact constraint enforcement with finite-time convergence, independent of objective convexity, and exhibits robustness to matched disturbances, structural uncertainty and <span><math><msub><mrow><mi>L</mi></mrow><mrow><mi>∞</mi></mrow></msub></math></span>-bounded measurement noise. To accelerate convergence, a nonsingular terminal sliding mode-based normed gradient flow is introduced, ensuring both finite-time convergence to optimal solutions and constraint satisfaction. Rigorous Lyapunov analysis establishes closed-loop stability and convergence. Numerical studies across diverse benchmark problems demonstrate superior accuracy and robustness over classical continuous-time optimization methods, highlighting effectiveness under disturbances.</div></div>","PeriodicalId":29926,"journal":{"name":"IFAC Journal of Systems and Control","volume":"36 ","pages":"Article 100429"},"PeriodicalIF":1.8,"publicationDate":"2026-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148241059","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

A methodology for the practical implementation of fractional-order event-based PID controllers 一种实际实现分数阶基于事件的PID控制器的方法

IF 1.8

IFAC Journal of Systems and Control Pub Date : 2026-06-01 Epub Date: 2026-05-26 DOI: 10.1016/j.ifacsc.2026.100426

Michele Schiavo , Manuel Beschi , Marco Milanesi , Fabrizio Padula , Antonio Visioli

{"title":"A methodology for the practical implementation of fractional-order event-based PID controllers","authors":"Michele Schiavo , Manuel Beschi , Marco Milanesi , Fabrizio Padula , Antonio Visioli","doi":"10.1016/j.ifacsc.2026.100426","DOIUrl":"10.1016/j.ifacsc.2026.100426","url":null,"abstract":"<div><div>Achieving high control performance while minimizing resource usage is a key challenge in industrial systems. Fractional-order PID (FOPID) controllers offer enhanced performance over integer-order PID. Meanwhile, event-based control architectures reduce resource use and costs. However, integrating FOPID control with event-based architectures is challenging, as standard discrete-time approximations’ accuracy of fractional dynamics degrades under non-uniform sampling. This paper presents a practical method to implement FOPI and FOPID controllers in an event-based framework. Building on industrial PIPlus and PIDPlus architectures, the approach uses state-space realizations of fractional operators, enabling the controller’s internal states and output to be updated in closed form only at event times. A simulation study compares the proposed method against an existing direct-discretization approach, which represents the only alternative available in the literature to implement event-based fractional-order controllers, by considering different controller configurations. The results show that the proposed method reproduces the response of the reference time-based controller more accurately. In particular, it achieves substantial reductions in the integrated absolute error between the event-based response and the reference response obtained with standard periodic sampling (<span><math><mrow><mi>I</mi><mi>A</mi><mi>E</mi><mi>P</mi></mrow></math></span> index), with average improvements ranging from 38% to 68% across the different controller configurations considered. These findings suggest that the proposed state-space approach is a reliable solution for deploying existing fractional-order controllers in event-based architectures while preserving their intended closed-loop dynamic behavior.</div></div>","PeriodicalId":29926,"journal":{"name":"IFAC Journal of Systems and Control","volume":"36 ","pages":"Article 100426"},"PeriodicalIF":1.8,"publicationDate":"2026-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148184057","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

A lightweight EEG-controlled hand exoskeleton for assisting activities of daily living in patients with hand impairments 一种轻量级的脑电图控制的手外骨骼，用于帮助手部损伤患者的日常生活活动

IF 1.8

IFAC Journal of Systems and Control Pub Date : 2026-06-01 Epub Date: 2026-05-26 DOI: 10.1016/j.ifacsc.2026.100427

Ab Wafi Ab Aziz , Jamaludin Jalani , Amirul Syafiq Sadun , Muhammad Zulhilmi Hussin , Norain Rahim

{"title":"A lightweight EEG-controlled hand exoskeleton for assisting activities of daily living in patients with hand impairments","authors":"Ab Wafi Ab Aziz , Jamaludin Jalani , Amirul Syafiq Sadun , Muhammad Zulhilmi Hussin , Norain Rahim","doi":"10.1016/j.ifacsc.2026.100427","DOIUrl":"10.1016/j.ifacsc.2026.100427","url":null,"abstract":"<div><div>This paper presents the design and implementation of a lightweight, portable hand exoskeleton controlled via electroencephalography (EEG) signals to support individuals with hand impairments in performing activities of daily living (ADLs). The device is fabricated using 3D-printed PLA material and actuated by a linear motor under Arduino Uno control. With two degrees of freedom (DoFs) per finger, the prototype achieves a total of eight DoFs across four fingers. EEG signals – specifically eye-blink detection – serve as intuitive control inputs, enabling users to initiate flexion and extension movements. In this study, EEG signals are used as event-based commands rather than continuous control inputs for system dynamics. A closed-loop position regulation mechanism using potentiometer feedback ensures stable and safe actuator displacement during operation. Experimental validation demonstrates effective assistance in hand opening and closing, with a maximum grasping force of 11.88 N and a range of motion of 67°. Compared to existing designs, the proposed exoskeleton achieves reduced weight (298 g including controller and battery) while ensuring safety, comfort, and functional grasping capability. These findings suggest that the integration of EEG-based control with feedback, combined with a cost-effective 3D-printed rigid structure, provides a promising approach for enhancing autonomy and independence in patients with impaired hand function. The presented results represent a preliminary proof-of-concept validation conducted on a single healthy subject.</div></div>","PeriodicalId":29926,"journal":{"name":"IFAC Journal of Systems and Control","volume":"36 ","pages":"Article 100427"},"PeriodicalIF":1.8,"publicationDate":"2026-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148184036","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Language-aided state estimation 语言辅助状态估计

IF 1.8

IFAC Journal of Systems and Control Pub Date : 2026-03-01 Epub Date: 2026-01-30 DOI: 10.1016/j.ifacsc.2026.100372

Yuki Miyoshi , Masaki Inoue , Yusuke Fujimoto

引用次数: 0

Data-driven control of a single-qubit system based on unitary evolution reconstruction 基于统一进化重构的单量子位系统数据驱动控制

IF 1.8

IFAC Journal of Systems and Control Pub Date : 2026-03-01 Epub Date: 2026-02-03 DOI: 10.1016/j.ifacsc.2026.100377

Yunyan Lee , Julian Berberich , Ian R. Petersen , Daoyi Dong

引用次数: 0

Lagrangian grid-based estimation of nonlinear systems with invertible dynamics 非线性可逆系统的拉格朗日网格估计