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Verriest, Erik I.

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Author: Egerstedt, Magnus B. ×

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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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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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