Person:
Verriest, Erik I.

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Effects of Insufficient Time-Scale Separation in Cascaded, Networked Systems

2015-07 , Sakurama, Kazunori , Verriest, Erik I. , Egerstedt, Magnus B.

In this paper, we investigate the effect of insufficient time-scale separation between inner and the outer loops in a cascaded, networked system under multiple clients. Inspired by the AQM (inner loop) and TCP (outer loop) at the Internet transport layer, a qualitative model is developed where the stability of the cascaded system is analyzed in terms of the gains acting at the outer and inner loops.

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On generalized balanced realizations and applications to model reduction

1982 , Verriest, Erik I.

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Nonlinear observers via regularized dynamic inversion

2007-07 , Yezzi, Anthony , Verriest, Erik I.

We propose a nonlinear observer framework in which the state estimate ˆxk of a discrete time dynamical system is chosen to simultaneously minimize the final output residual yk − h ` xk, uk, t) while at the same time remaining close to the predicted apriori estimate ˆx− k . This latter constraint regularizes the problem of trying to instantaneously invert an overdetermined system with more states than outputs by putting a cost on the difference between the predicted and final state estimates. As the the apriori estimates used to regularize the inversion process are obtained from the modelled system dynamics, we refer to this approach as regularized dynamic inversion. We discuss a class of nonlinearities for which this style observer yields a computationally feasible filtering algorithm with significantly superior performance compared with its Luenberger style counterparts (EKF) in two scenarios.

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Optimal Control of a Multi-Dimensional, Hybrid Ice-Skater Model

2007-07 , Mehta, Tejas R. , Yeung, Deryck , Verriest, Erik I. , Egerstedt, Magnus B.

In this paper, we study hybrid models that not only undergo mode transitions, but also experience changes in dimensions of the state and input spaces. An algorithmic framework for the optimal control of such Multi-Mode, Multi- Dimension (or M[3]D) systems is presented. We moreover derive a detailed M[3]D model for an ice-skater, and demonstrate the use of the developed framework on the ice-skater model.

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