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In this paper regional Input-to-State Stability (ISS) is introduced and studied in order to analyze the domain of attraction of nonlinear constrained systems with disturbances. ISS is derived by means of a non smooth ISSLyapunov function with an upper bound guaranteed only in a sub-region of the domain of attraction. These results are used to study the ISS(More)
This paper describes a model predictive control (MPC) algorithm for the solution of a state-feedback robust control problem for discrete-time nonlinear systems. The control law is obtained through the solution of a finite-horizon dynamic game and guarantees robust stability in the face of a class of bounded disturbances and/or parameter uncertainties. A(More)
The control of diabetes is an interdisciplinary endeavor, which includes a significant biomedical engineering component, with traditions of success beginning in the early 1960s. It began with modeling of the insulin-glucose system, and progressed to large-scale in silico experiments, and automated closed-loop control (artificial pancreas). Here, we follow(More)
This paper addresses the problem of cooperative control of a team of distributed agents with decoupled nonlinear discrete-time dynamics, which operate in a common environment and exchange-delayed information between them. Each agent is assumed to evolve in discrete-time, based on locally computed control laws, which are computed by exchanging delayed state(More)
BACKGROUND The development of artificial pancreas has received a new impulse from recent technological advancements in subcutaneous continuous glucose monitoring and subcutaneous insulin pump delivery systems. However, the availability of innovative sensors and actuators, although essential, does not guarantee optimal glycemic regulation. Closed-loop(More)
BACKGROUND Advancements in subcutaneous continuous glucose monitoring and subcutaneous insulin delivery are stimulating the development of a minimally invasive artificial pancreas that facilitates optimal glycemic regulation in diabetes. The key component of such a system is the blood glucose controller for which different design strategies have been(More)
The annual gonad development of a shallow (20 m depth) population of the Mediterranean gorgonian Eunicella singularis was found to be closely synchronized with that of a deep (60 m depth) population, but differences were observed in the gonadal output, with the shallow population producing more and larger sexual products. Lipid content in the shallow(More)
A new multivariable controller for cement milling circuits is presented, which is based on a nonlinear model of the circuit and on a nonlinear predictive control strategy. Comparisons with previous LQ control strategies show improved performances with respect to an important source of perturbations of the circuit: a change of hardness of the raw material.