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One of the important issues in networked control systems is the appropriate handling of the nonlinearities arising from uncertain time-varying delays. In this paper, using the Cayley-Hamilton theorem, we develop a novel method for creating discrete-time models of linear systems with time-varying input delays based on polytopic inclusions. The proposed(More)
Positive invariance is a common analysis and control design tool for systems affected by constraints and disturbances. The present paper revisits the construction of ǫ-approximations of minimal robust positive invariant sets proposing contractive procedures in the cases of switching between different sets of disturbances and the inclusion of a predefined(More)
The presence of a communication network in a control loop induces many imperfections such as varying transmission delays, varying sampling/transmission intervals and packet loss, which can degrade the control performance significantly and can even lead to instability. Various techniques have been proposed in the literature for stability analysis and(More)
This paper addresses a predictive control strategy for a particular class of multi-agent formations with a time-varying topology. The goal is to guarantee tracking capabilities with respect to a reference trajectory which is pre-specified for an agent designed as the leader. Then, the remaining agents, designed as followers, track the position and(More)
In this paper a new concept of set invariance, called D-invariance, is introduced for dynamical systems described by delay difference equations. We will be interested in the definition and computation of such invariant sets in a specified bounded region of the state-space. The Minkowski algebra will be used to define mappings over the set of compact sets in(More)
In this paper the concept of set invariance for time-delay systems is introduced with a specific attention to the linear discrete-time case. We are interested in the definition of a D(elay)invariant set with respect to a bounded polyhedral subset of the state-space. D-invariance conditions are derived based on the Minkowski addition in a first stage, and(More)
This paper deals with the computational issues encountered in the construction of invariant sets of uncertainty LTI systems, the presented results being useful in the more general framework of piecewise linear systems affected by parametric uncertainty. The main contribution is the efficient computation of upper and lower bounds of the maximal positively(More)
This paper describes a new industrial case on automation, for large-scale systems with high environmental impact: the mining ventilation control systems. Ventilation control is essential for the operation of a mine in terms of safety (CO and NOx regulation) and energy optimization. We first discuss a novel regulation architecture, highlighting the interest(More)
This paper investigates the robust tracking and regulation control problems for discrete-time, piecewise affine systems subject to bounded disturbances. In particular, the main question addressed is related to the existence of a controller such that the closed-loop system exhibits an attainable desired behavior under all possible disturbances. Checking(More)