— In this paper, we propose a nonlinear control design for solving the problem of stabilization with guaranteed safety. The design is based on the merging of a Control Lyapunov Function and a Control Barrier Function. The proposed control method allows us to combine the design of a stabilizer based on CLF and the design of safety control based on CBF. The… (More)
— For a class of dissipative nonlinear systems, it is shown that an associated dissipation inequality determines an iISS gain. The result can be used to show the convergence of the state trajectory whenever the input signal has bounded energy where the energy function is related to the dissipation inequality.
It is well known that if the linear time invariant system ˙ x = Ax + Bu, y = Cx is passive the associated incremental system ˙ ˜ x = A˜x + B˜u, ˜ y = C˜x, with˜(·) = (·) − (·) ⋆ , u ⋆ , y ⋆ the constant input and output associated to an equilibrium state x ⋆ , is also passive. In this paper, we identify a class of nonlinear passive systems of the form ˙ x =… (More)
An input-to-state stability theory, which subsumes results of circle criterion type, is developed in the context of a class of infinite-dimensional systems. The generic system is of Lur'e type: a feedback interconnection of a well-posed infinite-dimensional linear system and a nonlinearity. The class of nonlinearities is subject to a (generalized) sector… (More)
Motivated by recent progress on the interplay between graph theory , dynamics, and systems theory, we revisit the analysis of chemical reaction networks described by mass action kinetics. For reaction networks possessing a thermodynamic equilibrium we derive a compact formulation exhibiting at the same time the structure of the complex graph and the… (More)
MOTIVATION Genetic modifications or pharmaceutical interventions can influence multiple sites in metabolic pathways, and often these are 'distant' from the primary effect. In this regard, the ability to identify target and off-target effects of a specific compound or gene therapy is both a major challenge and critical in drug discovery. RESULTS We applied… (More)
In this paper we investigate a passivity approach to collective coordination and synchronization problems in the presence of quantized measurements and show that coordination tasks can be achieved in a practical sense for a large class of passive systems.