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On Representations of Linear Port-Hamiltonian Systems defined by Dirac and Lagrange structures⁎ 狄拉克和拉格朗日结构定义的线性port - hamilton系统的表示方法[j]
IFAC-PapersOnLine Pub Date : 2026-01-01 Epub Date: 2026-10-09 DOI: 10.1016/j.ifacol.2026.09.020
Javier Caballeria, Hector Ramirez, Laurent Lefèvre, Yann Le Gorrec
{"title":"On Representations of Linear Port-Hamiltonian Systems defined by Dirac and Lagrange structures⁎","authors":"Javier Caballeria,&nbsp;Hector Ramirez,&nbsp;Laurent Lefèvre,&nbsp;Yann Le Gorrec","doi":"10.1016/j.ifacol.2026.09.020","DOIUrl":"10.1016/j.ifacol.2026.09.020","url":null,"abstract":"<div><div>Linear port-Hamiltonian systems (PHS) defined by Dirac and Lagrange structures, referred to as port-Hamiltonian differential-algebraic equation systems (PH DAEs), incorporate a class of algebraic constraints arising from energy deficiency in the Hamiltonian definition, known as Lagrange algebraic constraints. This paper presents two novel equivalent characterizations of linear PH DAEs with Lagrange constraints, including resistive and external ports. Relations to constrained input-output PHS formulations are established. The constraints are shown to be transferable between Dirac and Lagrange structures, enabling equivalent representations in terms of state or effort variables. The proposed formulations are illustrated using a micro-robotic contact scenario model.</div></div>","PeriodicalId":37894,"journal":{"name":"IFAC-PapersOnLine","volume":"60 1","pages":"Pages 115-120"},"PeriodicalIF":0.0,"publicationDate":"2026-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"149125328","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
Stability of Slow-Fast Nonlinear Dynamics: Non-Periodic Case 慢-快非线性动力学的稳定性：非周期情况
IFAC-PapersOnLine Pub Date : 2026-01-01 Epub Date: 2026-10-09 DOI: 10.1016/j.ifacol.2026.09.008
G. Q. Bao Tran, Daniel Liberzon, Hyungbo Shim
{"title":"Stability of Slow-Fast Nonlinear Dynamics: Non-Periodic Case","authors":"G. Q. Bao Tran,&nbsp;Daniel Liberzon,&nbsp;Hyungbo Shim","doi":"10.1016/j.ifacol.2026.09.008","DOIUrl":"10.1016/j.ifacol.2026.09.008","url":null,"abstract":"<div><div>We present sufficient conditions for the semi-global exponential stability of nonlinear systems whose dynamics have both slow and fast time variations. Unlike most existing results, the fast variation is non-periodic, thereby allowing a wider class of systems, especially switched systems with fast (non-periodic) switching and those with quasi-periodic variations; we therefore rely on general averaging to construct an average system. It is assumed that the average system admits a time-invariant equilibrium that is globally exponentially stable when the slow variation is frozen, i.e., remaining at a fixed value. This slow variation is allowed to be discontinuous in time, provided its total variation (flows and jumps) is bounded. The main result is illustrated using a nonlinear switched system with slow-fast non-periodic switching.</div></div>","PeriodicalId":37894,"journal":{"name":"IFAC-PapersOnLine","volume":"60 1","pages":"Pages 43-48"},"PeriodicalIF":0.0,"publicationDate":"2026-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"149125421","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
Testing Backward-Flatness of Nonlinear Discrete-Time Systems 非线性离散系统的后向平坦性检验
IFAC-PapersOnLine Pub Date : 2026-01-01 Epub Date: 2026-10-09 DOI: 10.1016/j.ifacol.2026.09.007
Johannes Schrotshamer, Bernd Kolar, Markus Schöberl
{"title":"Testing Backward-Flatness of Nonlinear Discrete-Time Systems","authors":"Johannes Schrotshamer,&nbsp;Bernd Kolar,&nbsp;Markus Schöberl","doi":"10.1016/j.ifacol.2026.09.007","DOIUrl":"10.1016/j.ifacol.2026.09.007","url":null,"abstract":"<div><div>Despite ongoing research, testing the flatness of discrete-time systems remains a challenging problem. To date, only the property of forward-flatness — a special case of difference-flatness — can be checked in a computationally efficient manner. In this paper, we propose a systematic approach for testing backward-flatness, which is another special case of difference-flatness, and for deriving a corresponding backward-flat output. Additionally, we discuss the relationship between the Jacobian matrices associated with the flat parameterization of backward- and forward-flat systems and illustrate our results by an academic example.</div></div>","PeriodicalId":37894,"journal":{"name":"IFAC-PapersOnLine","volume":"60 1","pages":"Pages 37-42"},"PeriodicalIF":0.0,"publicationDate":"2026-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"149125433","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
State Constraint Analysis for Powered Descent Guidance 动力下降制导的状态约束分析
IFAC-PapersOnLine Pub Date : 2026-01-01 Epub Date: 2026-10-09 DOI: 10.1016/j.ifacol.2026.09.023
Samuel Hornus, Jean-Baptiste Caillau, Lamberto Dell’Elce, Jean-Baptiste Pomet
{"title":"State Constraint Analysis for Powered Descent Guidance","authors":"Samuel Hornus,&nbsp;Jean-Baptiste Caillau,&nbsp;Lamberto Dell’Elce,&nbsp;Jean-Baptiste Pomet","doi":"10.1016/j.ifacol.2026.09.023","DOIUrl":"10.1016/j.ifacol.2026.09.023","url":null,"abstract":"<div><div>We study the powered-descent guidance problem for soft planetary landing. This optimal control problem seeks the best trajectory for propulsively landing a vehicle at a given point while consuming as little propellant as possible and satisfying constraints on the control (thrust direction) and the state (obstacle avoidance). As such, it is very relevant to applications to reusable launchers. The problem and its variants have been extensively studied using finite-dimensional optimization techniques (e.g. convex solvers), and less so with indirect methods. Even the variant with the simplest dynamics is not yet completely understood mathematically, as highlighted by the recent study of Leparoux and Jean (2022). We provide the expression of the control along state-constrained arcs, which allows us to implement the indirect method accounting for the control and state constraints. We then explore the space of trajectory structures by sampling the initial condition. This highlights the richness of the problem, and lets us envision, as future work, low computation MPC-style real-time controllers.</div></div>","PeriodicalId":37894,"journal":{"name":"IFAC-PapersOnLine","volume":"60 1","pages":"Pages 133-138"},"PeriodicalIF":0.0,"publicationDate":"2026-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"149125453","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
A Case Study on the Use of Invertible Functions to Detect Attacks in Cooperative Discrete-Event Systems 利用可逆函数检测合作离散事件系统攻击的实例研究
IFAC-PapersOnLine Pub Date : 2026-01-01 Epub Date: 2026-10-09 DOI: 10.1016/j.ifacol.2026.09.032
Bryony H. Laporte, Karen Rudie
{"title":"A Case Study on the Use of Invertible Functions to Detect Attacks in Cooperative Discrete-Event Systems","authors":"Bryony H. Laporte,&nbsp;Karen Rudie","doi":"10.1016/j.ifacol.2026.09.032","DOIUrl":"10.1016/j.ifacol.2026.09.032","url":null,"abstract":"<div><div>In this work we explore a novel use of the style of encryption function used to enforce confidentiality in discrete-event systems. While these encryption functions typically secure a system against passive attackers, by leveraging stealthiness one can design an encryption function that detects active attacks. In this work we shall demonstrate this concept and show with examples how risk can be minimized, even if the attacker is capable of altering communications without restriction. With this method, a system can be secured against both active and passive attackers.</div></div>","PeriodicalId":37894,"journal":{"name":"IFAC-PapersOnLine","volume":"60 1","pages":"Pages 187-192"},"PeriodicalIF":0.0,"publicationDate":"2026-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"149125324","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
Stochastic control representation for the Schrödinger equation with the Coulomb potential 库仑势Schrödinger方程的随机控制表示
IFAC-PapersOnLine Pub Date : 2026-01-01 Epub Date: 2026-10-09 DOI: 10.1016/j.ifacol.2026.09.003
Yifei Zheng, William M. McEneaney, Hidehiro Kaise
{"title":"Stochastic control representation for the Schrödinger equation with the Coulomb potential","authors":"Yifei Zheng,&nbsp;William M. McEneaney,&nbsp;Hidehiro Kaise","doi":"10.1016/j.ifacol.2026.09.003","DOIUrl":"10.1016/j.ifacol.2026.09.003","url":null,"abstract":"<div><div>A diffusion-based representation for the Maslov dequantization of the time-dependent Schrödinger equation is obtained, where the wave function corresponds to the statical value function of a complex-valued stochastic control problem. Whereas previous efforts along this line were restricted to holomorphic potentials, we here use an additional controller specifically constructed to generate the Coulomb potential via staticization. The solution to the Schrödinger equation is obtained from requantization of the representations. A demonstrative numerical example is included at the end.</div></div>","PeriodicalId":37894,"journal":{"name":"IFAC-PapersOnLine","volume":"60 1","pages":"Pages 13-18"},"PeriodicalIF":0.0,"publicationDate":"2026-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"149125418","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
Multiplicative Controllability of a one-dimensional Fokker-Planck equation through the Advection Term⁎ 一维Fokker-Planck方程通过平流项的乘法可控性
IFAC-PapersOnLine Pub Date : 2026-01-01 Epub Date: 2026-10-09 DOI: 10.1016/j.ifacol.2026.09.009
Yixing (Roger) Gu
{"title":"Multiplicative Controllability of a one-dimensional Fokker-Planck equation through the Advection Term⁎","authors":"Yixing (Roger) Gu","doi":"10.1016/j.ifacol.2026.09.009","DOIUrl":"10.1016/j.ifacol.2026.09.009","url":null,"abstract":"<div><div>This paper investigates the approximate multiplicative (bilinear) controllability of parabolic partial differential equations, focusing on a special form of the one-dimensional Fokker-Planck equation. We first derive some properties of weak derivatives, which are used to extend some results of Sturm-Liouville theory to Sobolev spaces, and then establish a relationship between the control through the advection term and the control through the reaction term by means of a suitable transformation. The proposed method is constructive, and it leads to an implementable algorithm for finding a bilinear control through the advection term.</div></div>","PeriodicalId":37894,"journal":{"name":"IFAC-PapersOnLine","volume":"60 1","pages":"Pages 49-54"},"PeriodicalIF":0.0,"publicationDate":"2026-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"149125422","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
Error Quantification for the Re-centered Chen-Fliess Series⁎ 重心Chen-Fliess序列的误差量化方法[j]
IFAC-PapersOnLine Pub Date : 2026-01-01 Epub Date: 2026-10-09 DOI: 10.1016/j.ifacol.2026.09.005
Farnaz Boudaghi, Luis A. Duffaut Espinosa
{"title":"Error Quantification for the Re-centered Chen-Fliess Series⁎","authors":"Farnaz Boudaghi,&nbsp;Luis A. Duffaut Espinosa","doi":"10.1016/j.ifacol.2026.09.005","DOIUrl":"10.1016/j.ifacol.2026.09.005","url":null,"abstract":"<div><div>Successive re-centering of Chen-Fliess series (CFS) extends the domain of the series representation of systems beyond their finite execution horizon, which enables applications in receding horizon system analysis and control. However, each re-centering step introduces an approximation error due to truncation and re-centering coefficient deviations. Systematically quantifying these stepwise errors is an essential first step toward understanding their behavior over successive re-centerings. This paper develops a methodology for quantifying the error induced by the truncation and re-centering of a CFS. Explicit upper bounds are derived for truncation error, re-centering error, and their combined effect, in terms of the convergence properties of the associated CFS. Examples are provided to illustrate the results.</div></div>","PeriodicalId":37894,"journal":{"name":"IFAC-PapersOnLine","volume":"60 1","pages":"Pages 25-30"},"PeriodicalIF":0.0,"publicationDate":"2026-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"149125425","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
An application of FEM to the Fokker-Planck framework for swarm density tracking 有限元法在Fokker-Planck框架中的应用
IFAC-PapersOnLine Pub Date : 2026-01-01 Epub Date: 2026-10-09 DOI: 10.1016/j.ifacol.2026.09.015
Hassaan Qazi, Roberto Guglielmi
{"title":"An application of FEM to the Fokker-Planck framework for swarm density tracking","authors":"Hassaan Qazi,&nbsp;Roberto Guglielmi","doi":"10.1016/j.ifacol.2026.09.015","DOIUrl":"10.1016/j.ifacol.2026.09.015","url":null,"abstract":"<div><div>We present a Model Predictive Control-based optimal control strategy for a swarm distribution to track a time-varying target distribution in the context of the Fokker-Planck–optimal control framework. The control, dependent on both time and space, appears as a drift term in the stochastic differential equation that describes the evolution of the agents. The main contribution is to design a Finite Element Method discretization formulation using the <em>first-discretize-then-optimize</em> approach for our 2D problem. We provide results for both static and time-varying target distributions, along with the convergence error.</div></div>","PeriodicalId":37894,"journal":{"name":"IFAC-PapersOnLine","volume":"60 1","pages":"Pages 85-90"},"PeriodicalIF":0.0,"publicationDate":"2026-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"149125428","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
Scalable Tensor GLRT for Massive MIMO Radar Target Detection 大规模MIMO雷达目标检测的可伸缩张量GLRT
IFAC-PapersOnLine Pub Date : 2026-01-01 Epub Date: 2026-10-09 DOI: 10.1016/j.ifacol.2026.09.002
Jaafar Almutawa, Hussain Al-Hammali
{"title":"Scalable Tensor GLRT for Massive MIMO Radar Target Detection","authors":"Jaafar Almutawa,&nbsp;Hussain Al-Hammali","doi":"10.1016/j.ifacol.2026.09.002","DOIUrl":"10.1016/j.ifacol.2026.09.002","url":null,"abstract":"<div><div>We propose a tensor-based generalized likelihood ratio test (GLRT) for target detection in massive MIMO radar systems. Unlike conventional methods that vectorize multidimensional data and destroy the spatial-temporal-range structure, our approach operates directly on tensor-valued observations, exploiting their low-rank nature via canonical polyadic decomposition. The resulting detector achieves dramatic complexity reduction while retaining the optimality of conventional GLRT, enabling real-time processing for arrays with over one thousand antennas. Simulations confirm performance comparable to the optimal detector with orders-of-magnitude computational savings.</div></div>","PeriodicalId":37894,"journal":{"name":"IFAC-PapersOnLine","volume":"60 1","pages":"Pages 7-12"},"PeriodicalIF":0.0,"publicationDate":"2026-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"149125417","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
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