Lyapunov-stable Neural Control for State and Output Feedback

In this project, an observer in the form of a stable neural network is proposed for any nonlinear MIMO system. As a result of experience, this observer utilizes a nonlinear in parameter neural network (NLPNN) which unlike LPNN, supports systems with higher degree of nonlinearity with no pre-knowledge of its dynamics. The learning rule for this n…

This repository contains lecture notes, solved problems, and simulation software on control systems in general.

A mobile robot equipped with a 3D camera moves in a room with four circular areas, and it has to localise and classify four objects which are positioned inside every area. A robotic arm with 6-DoF picks up the object and places it in a basket according to its class

The Project involves 3 typical convex optimization problems in control and the SDP (Semi-definite Programming) form or in other words the LMI (Linear Matrix Inequalities) form of each problem is achieved analytically and then the SDP optimization problems are solved in MATLAB using MATLAB CVX toolbox.

Research on Control of Cyber-Physical Systems

LQR-LQG-Controller Design

Real time parameter estimation on Grey Box Dynamic Systems

📕Code for paper Parallelizable Complex Neural Dynamics Models for Temperature Estimation with Hardware Acceleration.

Efficient Computation of Lyapunov Functions Using Deep Neural Networks for the Assessment of Stability in Controller Design

A collection of definitions, theorems, lemmas, results, rules, techniques, derivations, proofs and more from the field of control theory. The note management system "Obsidian" is used for note management.

This my master's degree graduation thesis, it's about DC motor speed control using the sliding mode method, the motor it's controlled based on three models which are cascade and reduced, and complete model. the method has proved that it's robust against dc motor parameters changing and able to track a reference speed.

Codebase of "Actor-Critic Reinforcement Learning for Control with Stability Guarantee" by Han et al. 2020

Material from the course of Nonlinear Systems and Robustness at ENSEM - Université de Lorraine.

Bifurcation Diagrams for Discrete-Time Maps in Python - https://doi.org/10.5281/zenodo.13276873

Simulation and Experiment Projects for the Paper "Desired Model Compensation-Based Position Constrained Control of Robotic Manipulators" using MATLAB Simulink and C

Project from an introductory course in hybrid systems focussed on stability and performance.

Projeto de iniciação científica que utiliza os conceitos de mecânica quântica moderna e controle não linear para resolver problemas de sistemas quânticos abertos