Udine

Udine team has been involved in the following topics.

•   Static solution to the relatively optimal control - A static solution to the relatively optimal control has been proposed. The resulting control is nonlinear but does not require the insertion of additional dynamics [1].

•  Robust, gain-scheduled and switched control of LPV systems - The problems robust and gain scheduling control and for polytopic and switched LPV systems has been considered. A complete characterization of several stabilizability property has been presented [2].

• Time optimal control in permanent-magnet AC motor drives - A minimum-time control strategy for brushless motors has been proposed. For its efficient implementation, an algorithm based on Sturm sequences has been developed. Experimental results obtained from a prototype have shown the effectiveness of the procedure [3].

• Blending control - A blended control is a feedback which achieves simultaneously and exactly the performances of several controllers. The theory with experimental results have been presented in [4].

• Switched and switching systems - It has been shown that there exists stabilizable switched systems (i.e. with controlled switching signal) which do not admit convex Lyapunov functions [5]. The problem of controlling a switching system by means of a switching control ha s been considered. Necessary and sufficient conditions have been proposed along with the parameterization of all stabilizing controllers [11]. An Lyapunov--based switching control for fluid networks has been proposed [9] and tested on an experimental setup (Fig. 4).

• Robot manipulators in constrained environment - A hierarchical strategy for robot control under constraints has been proposed and tested experimentally [6] (Fig. 1—3).

• Set theoretic methods - The long work of writing the book [7] has been completed the book was available at CDC07. A problem of obstacle avoidance has been considered in [14]

•  Robust control of buffer systems with average optimization - The problem of control of multi-inventory systems with uncertain (unknown-but bounded demand) has been faced. The new results consist in the optimization of the long--term average flow [8]. The problem of consensus has been investigated in a game--theoretic framework [15]-[19] and [21].

•   Robust Identification and model reduction for systems biology applications: - The problem of the identification of biochemical reaction Kinetics has been faced in [20].

•   Root locus techniques: - An invariance property of root loci has been pointed out and exploited to design robust controllers for unstable and non-minimumphase plants [28].

•   Model reduction: - Numerically efficient algorithms have been presented to obtain reduced-order models of complex original systems in such a way that the L_2 norm of suitably weighted equation errors [29] and of the impulse-response error [16] are minimized. The procedures have been successfully applied to benchmark examples of very high dimension.

•  Robust PID design with H-infinity specification - results on PID control with H-infinity constraints have been extended to the case in which the plant parameters may take on values inside given intervals [30].

•   Stability tests: - Classical stability criteria for linear systems, including the Routh and the Lepschy tests, have been proven in a suggestive way with the aid of the root locus invariance property [31]

 The participants of the unit contributed with three papers to the book G. Picci, M.E. Valcher, Eds. "A Tribute to Antonio Lepschy", Edizioni Libreria Progetto, Padova, 2007, pp. 19-29, in memory of Antonio "il Maestro".

Other activities

• Scuola Giovanni Zappa. An advanced school for Phd students and young researchers has been organized in Udine by Stefano Miani: Scuola di dottorato 14-15 novembre 2008

• Franco Blanchini served as Chairman of for Tutorial session for the 2008 Conference on decision and Control, Cancun Dec. 2008: CDC-08, Cancun 9-11 December 2008

Publications

1. F. Blanchini, F. A. Pellegrino,  "Relatively optimal control a piecewise affine solution", SIAM Journal on Control and Optimization, Vol. 42, no. 2, pp. 585-603, 2007.

2. F. Blanchini, S. Miani and C. Savorgnan,  "Stability results for linear parameter varying and switching systems", Automatica, pp. 1817-1823, October 2007.

3. F. Blanchini, S. Miani, M. Tomasini, L. Tubiana, U. Viaro, M. Zigliotto,  "A minimum-time control strategy for torque tracking in permanent magnet ac motor drives", Automatica , Vol. 43, no. 3, pp. 505--512, 2007.

4. F.Blanchini, P. Colaneri, F.A. Pellegrino, "Compensator blending: a new tool for multi--objective design", Automatica, January 2008, Vol. 44, no. 1, pp. 1-14, January 2004.

5. F. Blanchini and C. Savorgnan,  "Stabilizability of switched linear systems does not imply the existence of convex Lyapunov functions", Automatica, April 2008, Vol. 44, no. 4, pp. 1166—117, April 2008.

6. F. Blanchini, S. Miani, F. A. Pellegrino and B. van Arkel,  "Enhancing controller performance for robot positioning in a constrained environment", IEEE Transactions on Control Systems Technology, Vol. 16, n. 5, pp. 1066-1074, 2008. .

7. F. Blanchini and S. Miani, "Set theoretic methods in control", Birkhauser, 2008.

8. D. Bauso, F. Blanchini, R Pesenti, "Average flow constraints and stabilizability in uncertain production-distribution systems", Proceedings of the 2007 American Control Conference, New York, June 2007.

9. Franco Blanchini, U. Viaro ``Switched control of fluid networks", The Transactions of the Institute of Measurement and Control, Special Issue on Switched Dynamical Systems, pp. 1-21. (2009).

10. A. Abramo, F. Blanchini, L. Geretti and C. Savorgnan, "A Mixed Convex/Non--Convex Distributed Localization Approach for the Deployment of Indoor Positioning Services", IEEE Transactions on Mobile Computing, IEEE Transaction on Mobile Computing, vol. 7, Issue 11, pp. 1325-1337. Digital Object Identifier 10.1109/TMC.2008.59.

11. F. Blanchini, S. Miani and F. Mesquine, "A separation principle for linear switching systems and parametrization of all stabilizing controllers", IEEE Transactions on Automatic Control, pp. 279-292, February 2009.

12. F. Blanchini, T. Parisini, F.A. Pellegrino, G. Pin, "High—Gain Adaptive Control: a derivative Based Approach”, Proceedings of the 2008 Conference on decision and Control, Cancun Dec. 2008, (conditionally accepted in IEEE Transactions on Automatic Control).

13. F. Blanchini and T. Hu, “Polyhedral functions, composite quadratic functions, and some equivalent conditions for stability/stabilization, Proceedings of the 2008 Conference on decision and Control, Cancun Dec. 2008.

14. S. V. Rakovic, Franco Blanchini, E.Cruck, M. Morari, ``Robust Obstacle Avoidance for Constrained Linear Discrete Time Systems: A Set-theoretic Approach", Procecdings of the IEEE Conference on Decision and Con- trol, New Orleans Dec. 2007, pp 188--193.

15. D. Bauso, L. Giarré, R. Pesenti. Distributed Consensus in Noncooperative Inventory Games. EUROPEAN JOURNAL OF OPERATIONAL RESEARCH; Volume 192, Issue 3, Pages 866-878, doi:10.1016/j.ejor.2007.10.012, online since 2007, February 2009

16. D. Bauso, L. Giarré, R. Pesenti. Consensus in Noncooperative Dynamic Games: a Multi-Retailer Inventory Application. IEEE TRANSACTIONS ON AUTOMATIC CONTROL, vol. 53-4; p. 998-1003, ISSN: 0018-9286, doi: 10.1109/TAC.2008.919546, 2008.

17. D. Bauso, L. Giarré, R. Pesenti. ``Lazy consensus for network with unknown but bounded noise'', IEEE CDC, New Orleans, December 12-14,2007, p. 2284-2290, ISBN/ISSN: I-4244-1498-9, 2007.

18. D. Bauso, L. Giarrè, R. Pesenti. "Distributed consensus for switched networks with unknown but bounded noise", 3rd International workshop on: Networked Control Systems : Tolerant to faults, 2007.

19. D. Bauso, L. Giarré, R. Pesenti, ``Consensus for networks with unknown but bounded disturbances'', accepted for publication on SIAM SICON, 2009, also: www.Arxiv.com, math.OC/0612834.

20. B. Bamieh and L. Giarré ``On Discovering Low Order Models in Biochemical Reaction Kinetics'' IEEE American Control Conference, New York, 9-13 July 2007, p. 2702-2707, doi: 10.1109/ACC.2007.4283134, 2007.

21. D. Bauso, L. Giarré, R. Pesenti. ``Distributed consensus for switched networks with unknown but bounded noise'', 3rd International workshop on :Networked Control Systems : Tolerant to faults}, 2007.

22. P. Falugi, L. Giarrré, ``Set Membership Identification of nonlinear positive models for biological systems'' Accepted for publication on Systems and Control Letters}, 2009

23. L. Giarré, Jaccheri L. ``Blogging as an educational tool: a three year experience'' Proceeding of the World IFAC Conference, p. 14630-14635, Seoul, Korea, ISBN/ISSN: 978-1-1234-7890-2, 2008.

24. P. Falugi, L. Giarré. ``Application of model quality evaluation to systems biology'', Proceedings of the 3rd IEEE ISCCSP, p. 135-141, ISBN/ISSN: 9781424416882, 2008.

25. D. Bauso, L. Giarré, R. Pesenti. ``Challenging aspects in Consensus protocols for Networks'', Proceedings of the 3rd IEEE ISCCSP, p. 660-665, ISBN/ISSN: 9781424416882, 2008.

26. D. Bauso, L. Giarré, R. Pesenti. ``Robust control of uncertain multi-inventory systems via Linear Matrix Inequality'',IFAC WORLD CONFERENCE, Seoul, Korea, p. 9027-9032, ISBN/ISSN: 978-1-1234-7890-2, 2008.

27. D. Bauso, L. Giarré, R. Pesenti. ``Noncooperative Dynamic games for Inventory Applications: a consensus approach '', IEEE CDC, p. 4819-4824, ISBN/ISSN: 78-1-4244-3124-3,2008.

28. W. Krajewski, U. Viaro "Root-locus invariance", IEEE Control Systems Magazine, vol. 27, no. 1, pp. 36-43, 2007

29. W. Krajewski, U. Viaro On MIMO model reduction by the weighted equation-error approach Numerical Algorithms, vol. 44, no. 1, pp. 83-98, 2007, ISSN: 1017-1398.

30. F. Blanchini, S. Miani, U. Viaro "Robust design of standard controllers under plant parameters uncertainty" in G. Picci, M.E. Valcher, Eds. A Tribute to Antonio Lepschy Edizioni Libreria Progetto, Padova, 2007, pp.19-29

31. U. Viaro, "Stability tests revisited" in G. Picci, M.E. Valcher, Eds. A Tribute to Antonio Lepschy Edizioni Libreria Progetto, Padova, 2007, pp. 189-199.

32. A. Ferrante, W. Krajewski, and U. Viaro ``The iterative-interpolation approach to L2 model reduction", in G. Picci, M.E. Valcher, Eds. A Tribute to Antonio Lepschy Edizioni Libreria Progetto, Padova, pp. 93-103, 2007.

33. W. Krajewski, S. Miani, A.C. Morassutti, and U. Viaro, ``Multicontroller design for continuous casting mold level control", in E. Kuljanic, Ed., Proc. 8th Int. Conf. Advanced Manufacturing Systems and Technology, Udine, Italy, pp. 653-663, 2008.

34. W. Krajewski and U. Viaro, ``Locating the equilibrium points of a predator-prey model by means of affine state feedback", Journal of The Franklin Institute, vol. 345, no. 5, pp. 489-498, 2008.

Photo 1: The experimental setup for [4].

Photo 2: The experimental setup for [6].

Photo 3: The experimental setup for [6].

Photo 4: The experimental setup for [20].

[back to main page]