This paper presents methods for using zonotopes and constrained zonotopes to improve the
practicality of a wide variety of set-based operations commonly used in control theory. The …

This title focuses on two significant problems in the field of automatic control, in particular
state estimation and robust Model Predictive Control under input and state constraints …

Feedback control of robotic systems interacting with the environment through contacts is a
central topic in legged robotics. One of the main challenges posed by this problem is the …

This work proposes an approach to replace the use of a robust control invariant set by a pair
of simpler sets that provide an inner and an outer approximation of the former. In the …

The manufacture of protein-based therapeutics presents unique challenges due to limited
control over the biotic phase. This typically gives rise to a wide range of protein structures of …

Robust model predictive control (MPC) is a well-known control technique for model-based
control with constraints and uncertainties. In classic robust tube-based MPC approaches, an …

The feasibility governor (FG) is an add-on unit for model predictive controllers (MPC) that
increases the closed-loop region of attraction by manipulating the applied reference to …

This article introduces a novel feasibility governor (FG), which enlarges the region of
attraction (ROA) of a nonlinear model predictive control (NMPC) setpoint regulation law with …

Abstract A hierarchical Model Predictive Control (MPC) formulation is presented for discrete-
time linear systems with state and input constraints. A vertical hierarchical controller, with …

Fault-tolerant control theory is a well-studied topic but the use of the sets in detection,
isolation and/or reconfiguration is rather tangential. The authors of this book propose a …