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We derive frequency-domain criteria for the convergence of linear iterative learning control (ILC) on finite-time intervals that are less restrictive than existing ones in the literature. In particular, the former can be used to establish the convergence of ILC in certain cases where the latter are violated. The results cover ILC with non-causal filters and provide insights into the transient beha
A fundamental problem in robotics is the generation of motion for a task. How to translate a task to a set of movements is a non-trivial problem. The complexity of the task, the capabilities of the robot, and the desired performance, affect all aspects of the trajectory; the sequence of movements, the path, and the course of motion as a function of time.This thesis is about trajectory generation a
BACKGROUND: Parkinson's disease is typically treated with oral dopamine replacement therapies; however, long-term treatment leads to motor complications and, occasionally, impulse control disorders caused by intermittent stimulation of dopamine receptors and off-target effects, respectively. We aimed to assess the safety, tolerability, and efficacy of bilateral, intrastriatal delivery of ProSavin,
We study a two compartment, nonlinear, age structured model for the cell cycle. The phases of the cell cycle G1, S, G2 and M are grouped into two phases, which we call Phase 1 and Phase 2, where Phase 1 consists of the phase G1 and Phase 2 consists of the phases S, G2 and M. It is assumed that Phase 1 has a variable duration while the duration of Phase 2 is fixed. The model consists of a system of
In this paper we show how to build an economically optimal feedback control strategy for the re-dispatch of electricity generation. We assume that the operator steers production in a set of controllable power plants by altering the active power set-point of each generator, within a set of predefined set-points. The operators strategy will be based on balancing the operating cost against the expect
Harmonic task scheduling has many attractive properties, including a utilization bound of 100% under rate-monotonic scheduling and reduced jitter. At the same time, it places a severe constraint on the task period assignment for any application. In this paper, we explore the use of harmonic task scheduling for applications with multiple feedback control tasks. We present an algorithm for finding h
This paper considers switching output feedback control of linear systems and variable-structure systems. Theory for stability analysis and design for a class of observer-based feedback control systems is presented. A circle-criterion approach can be used to design an observer-based state feedback control which yields a closed-loop system with specified robustness characteristics. The approach is r
In Vehicular Ad hoc NETworks (VANETs) where safety applications rely on broadcast communications, the hidden terminal problem can severely impact the reliability of these applications. Particularly, in forced flow traffic scenarios as the primary case of safety-critical situations, reliability is paramount for inter-vehicle communications to be useful. Not surprising, in these scenarios, the hidde
This contribution reviews theory, algorithms, and validation results for system identification of continuous-time models from finite non-uniformly sampled input-output sequences. The algorithms developed are autoregressive methods, and methods of stochastic realization adapted to the continuous-time context. The resulting model can be decomposed into an input-output model and a stochastic innovati
Event-based sensing and communication holds the promise of lower resource utilization and/or better performance for remote state estimation applications found in e.g. networked control systems. Recently, stochastic event-triggering rules have been proposed as a means to avoid the complexity of the problem that normally arises in event-based estimator design. By using a scaled Gaussian function in
A three bit second order delta sigma modulator for audio applications implemented in 130nm CMOS technology is presented. The modulator features two integrators, a flash quantizer and two current steering DACs. In order to minimize the effect of delays in the DACs, excessive loop delay (ELD) compensation is utilized. Using an oversampling ratio (OSR) of 80, the design consumes 2.8mW and achieves a
In this paper we present an audio synthesizer that creates audio signals, intended to be reproduced as sound by a loudspeaker. This paper details the design, implementation and verification of an analog, subtractive audio synthesizer. The synthesizer produces a variety of waveforms spanning approximately 3 octaves. The frequency is controlled by an external voltage and the harmonic content is regu
This thesis addresses problems which require low-rank solutions under convex constraints. In particular, the focus lies on model reduction of positive systems, as well as finite dimensional optimization problems that are convex, apart from a low-rank constraint. Traditional model reduction techniques try to minimize the error between the original and the reduced system. Typically, the resulting re
We examine the capacity of artificial biomolecular networks to respond to perturbations with structurally signed steady-state changes. We consider network architectures designed to balance their output production as a function of downstream demand: the species producing the output, called a source, up- or down-regulates its production rate as a function of the demand. Using an exact algorithm we s
The clinical success of targeted cancer therapies is limited by the emergence of drug resistance often due to pre-existing tumor genetic heterogeneity and acquired, therapy-induced resistance. Targeted therapies have varied success in addressing metastatic disease, due to their ability to penetrate certain physiological compartments. This paper considers an evolutionary cancer model that incorpora
Estimating Cartesian contact forces and torques enables external force supervision for robotic manipulators and even force-controlled applications while avoiding the need for additional external sensing. Redundant manipulators facilitate the problem of Cartesian contact force and torque estimation (CCFE) at the TCP, since an increased amount of joint level information is available for estimating t
In many system identification methods, process model parameters are considered stochastic variables. Several methods do not only yield expectations of these, but in addition their variance, and sometimes higher moments. This paper proposes a method for robust synthesis of the proportional-integral-derivative (PID) controller, taking parametric process model uncertainty explicitly into account. The
A simple form for the optimal H-infinity state feedback of linear time-invariant infinite-dimensional systems is derived. It is applicable to systems with bounded input and output operators and a closed, densely defined, self-adjoint and strictly negative state operator. However, unlike other state-space algorithms, the optimal control is calculated in one step. Furthermore, a closed-form expressi
