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Research paper thumbnail of On the Comparison of Predictive Control and Command Governor Approaches for Operational Control of Drinking Water Networks: A Case Study

Proceedings of the 19th IFAC World Congress, 2014

Research paper thumbnail of H 2 and H ∞ Optimal Control Strategies for Energy Harvesting by Regenerative Shock Absorbers in Cars †

Vibration, 2020

Regenerative suspension systems, unlike traditional passive, semi-active or active setups, are ab... more Regenerative suspension systems, unlike traditional passive, semi-active or active setups, are able to convert the traditionally wasted kinetic energy into electricity. This paper discusses flexible multi-objective control design strategies based on LMI formulations to suitably trade-off between the usual road handling and ride comfort performance and the amount of energy to be harvested. An electromechanical regenerative vehicle suspension system is considered where the shock absorber of each wheel is replaced by a linear electrical motor which is actively governed. It is shown by simulations that multivariable centralized control laws designed on the basis of a full-car model of the suspension system are able to achieve larger amount of harvested energy under identical ride comfort prescriptions with respect to scalar decentralized control strategies, designed on the basis of a single quarter-car model and implemented independently on each wheel in a decentralized way. Improvement...

Research paper thumbnail of Distributed command governor strategies for multi-agent dynamical systems

Dottorato di Ricerca in Ingegneria dei Sistemi e Informatica XXIV Ciclo, a.a. 2011

Research paper thumbnail of Advanced Adaptive Street Lighting Systems for Smart Cities

Smart Cities, 2020

This paper reports the results of a recently concluded R&D project, SCALS (Smart Cities Adaptive ... more This paper reports the results of a recently concluded R&D project, SCALS (Smart Cities Adaptive Lighting System), which aimed at the development of all hardware/software components of an adaptive urban smart lighting architecture allowing municipalities to manage and control public street lighting lamps. The system is capable to autonomously adjust street lamps’ brightness on the basis of the presence of vehicles (busses/trucks, cars, motorcycles and bikes) and/or pedestrians in specific areas or segments of the streets/roads of interest to reduce the energy consumption. The main contribution of this work is to design a low cost smart lighting system and, at same time, to define an IoT infrastructure where each lighting pole is an element of a network that can increase their amplitude. More generally, the proposed smart infrastructure can be viewed as the basis of a wider technological architecture aimed at offering value-added services for sustainable cities. The smart architectur...

Research paper thumbnail of International Journal of Mathematical Models and Methods in Applied Sciences

Mathematical and computer tools of discrete dynamic modeling and analysis of complex systems in c... more Mathematical and computer tools of discrete dynamic modeling and analysis of complex systems in control loop

Research paper thumbnail of Fault-tolerant sensor reconciliation schemes based on unknown input observers

International Journal of Control, 2018

Research paper thumbnail of A distributed command governor based on graph colorability theory

International Journal of Robust and Nonlinear Control, 2018

Research paper thumbnail of Distributed iterative command governor schemes for interconnected linear systems

International Journal of Robust and Nonlinear Control, 2017

Research paper thumbnail of Command governor for constrained switched systems with scheduled model transition dwell times

International Journal of Robust and Nonlinear Control, 2017

Research paper thumbnail of Centralized and Distributed Command Governor Approaches for Water Supply Systems Management

IEEE Transactions on Systems, Man, and Cybernetics: Systems, 2016

Research paper thumbnail of A multiobjective H∞ control strategy for energy harvesting in regenerative vehicle suspension systems

International Journal of Control, 2017

Research paper thumbnail of A parallel distributed supervision strategy for multi-agent networked systems

Systems & Control Letters, 2016

Abstract This paper introduces a novel parallel distributed supervision strategy for interconnect... more Abstract This paper introduces a novel parallel distributed supervision strategy for interconnected linear systems subject to pointwise-in-time set-membership coordination constraints. The scheme is based on the Feed Forward Command Governor paradigm. It is assumed that the systems are locally regulated, possibly dynamically coupled, and connected via data links. The supervisor is in charge of enforcing coordination constraints by modifying, whenever necessary, the nominal reference signals so that the global coordination goal is achieved. The proposed method extends in a substantial way the sequential Distributed Command Governor previously developed by the authors by allowing each agent to modify its local reference in parallel with the others. The main idea consists in bounding each subsystem with a set of local artificial constraints able to ensure global constraints satisfaction. These virtual constraints are dynamically generated in a distributed way on the basis of the common information available to all agents. The proposed strategy is described and its properties analyzed. The performance of the obtained scheme is compared with previous solutions in the final example.

Research paper thumbnail of Unbiased Estimation of Sinusoidal Signal Parameters via Discrete-Time Frequency-Locked-Loop Filters

IEEE Transactions on Automatic Control, 2017

A novel class of discrete-time frequency-locked-loop nonlinear (FLL) filters is introduced and th... more A novel class of discrete-time frequency-locked-loop nonlinear (FLL) filters is introduced and their relevance for the on-line estimation of the parameters of a possibly time-varying sinusoidal signal is discussed. Continuous-time nonlinear FLL filters have been proposed in the literature because of their circuital simplicity and ability to provide unbiased estimates of the instantaneous frequency, phase and amplitude of a time-varying sinusoidal signal simultaneously. It is shown in this note that standard discretization techniques may fail to generate discrete-time FLL filters exhibiting the same good properties of the continuous-time domain. In particular, biased frequency estimates are usually produced by these discrete-time filters. In this note, such a drawback is overcome because the proposed discrete-time FLL filters are proved to enjoy semi-globally exponential stability and their estimates are unbiased. A final example is presented for assessment purposes where also comparisons with other discrete-time filters, among which some synthesized by means of standard discretization techniques, are provided.

Research paper thumbnail of Distributed Supervisory Strategies for Multi-agent Networked Systems

Complex Systems, 2016

Novel distributed supervisory strategies for multi-agent linear systems connected via data networ... more Novel distributed supervisory strategies for multi-agent linear systems connected via data networks and subject to coordination constraints are presented in this paper. Such a coordination-by-constraint paradigm is based on the online management of the prescribed set points and it is characterized by a set of spatially distributed dynamic systems, connected via communication channels, with possibly dynamical coupling amongst them which need to be supervised and coordinated in order to accomplish their overall objective. Two distributed strategies will be fully described and analysed. First, a “sequential” distributed strategy will be presented where only one agent per decision time is allowed to manipulate its own reference signal. Such a strategy will be instrumental to introduce a more effective “parallel” distributed strategy, in which all agents are allowed, under certain conditions, to modify their own reference signals simultaneously. Finally, some cases of study will be presented to show the effectiveness of the proposed methods.

Research paper thumbnail of Theoretical advances on Economic Model Predictive Control with time-varying costs

Research paper thumbnail of Economic Model Predictive Control-Based Strategies for Cost-Effective Supervision of Community Microgrids Considering Battery Lifetime

IEEE Journal of Emerging and Selected Topics in Power Electronics, 2015

Community-based microgrid (C-μGrid) systems are gaining increasing importance nowadays because of... more Community-based microgrid (C-μGrid) systems are gaining increasing importance nowadays because of the lack of μGrid public investment and management policies. Technoeconomic analysis shows that C-μGrid based on a cluster of microgenerators could be an effective solution when individual systems are not feasible. In this paper, the controlling capability of the central controller of the C-μGrid is improved through an economic model predictive control (EMPC) approach operating at the pricing level that can fulfill the goal of the operational control of the cluster. With a central controller, it is capable of satisfying the demand at prosumer (active energy producer and simultaneous consumer) sides and, at the same time, optimizing the various μGrid contrasting constraints. Emphasis here has been given to the operational constraints related to the battery lifetime, so that the maintenance and replacement costs would be reduced. A comparative analysis has been carried out between the performance of two systems, one based on an IF-THEN-ELSE heuristic supervision logic (S-LOGIC) and the other based on the proposed EMPC strategy. The analysis has been undertaken in a location in Dublin, Ireland, on the basis of available measured data. Simulation shows the effectiveness of implementing the EMPC approach to optimally manage the system.

Research paper thumbnail of A Steady-State Command Governor Strategy for Constrained Linear Systems

Research paper thumbnail of On average performance of Economic Model Predictive Control with time-varying cost and terminal constraints

2015 American Control Conference (ACC), 2015

This note extends from a theoretical perspective recent results in Economic Model Predictive Cont... more This note extends from a theoretical perspective recent results in Economic Model Predictive Control to the case of time-varying cost functionals and terminal constraints. Formal conditions are provided in order to achieve average performance bounds of the closed-loop system under suitable technical assumptions guaranteeing existence of an asymptotic average stage cost (for frozen control and state variables).

Research paper thumbnail of A dwell-time based Command Governor approach for constrained switched systems

2015 American Control Conference (ACC), 2015

In this paper a switched control architecture for constrained control systems is presented. The s... more In this paper a switched control architecture for constrained control systems is presented. The strategy is based on Command Governor (CG) ideas that are here specialized in order to jointly take into account switching events on the plant dynamics and time-varying constraints. The significance of the method relies in its capability to avoid constraint violation and loss of stability regardless of any configuration change in the plant/constraint structure by commuting the system configuration (model plant+CG) with a more adequate one. To this end the concept of model transition dwell time is used within the proposed control framework to formally define the minimum time necessary to enable a switching event under guaranteed conditions on the overall stability and constraint fulfillment.

Research paper thumbnail of A networked-based receding horizon scheme for constrained LPV systems

European Journal of Control, 2015

Abstract This paper deals with control problems for networked constrained polytopic Linear Parame... more Abstract This paper deals with control problems for networked constrained polytopic Linear Parameter Varying (LPV) systems. A novel LPV customization of a recent Receding Horizon robust Control (RHC) scheme developed for polytopic uncertainty systems is here proposed for the case where command inputs and state measurement are subject to time-varying delays. By taking advantage of the flexibility of the LPV structure, families of precomputed one-step controllable sets are off-line computed which result less conservative with respect to their robust counterparts. Finally, simulation results involving the constrained tracking problem of an unicycle-type mobile robot are reported to show the effectiveness and the benefits of the proposed control scheme.

Research paper thumbnail of On the Comparison of Predictive Control and Command Governor Approaches for Operational Control of Drinking Water Networks: A Case Study

Proceedings of the 19th IFAC World Congress, 2014

Research paper thumbnail of H 2 and H ∞ Optimal Control Strategies for Energy Harvesting by Regenerative Shock Absorbers in Cars †

Vibration, 2020

Regenerative suspension systems, unlike traditional passive, semi-active or active setups, are ab... more Regenerative suspension systems, unlike traditional passive, semi-active or active setups, are able to convert the traditionally wasted kinetic energy into electricity. This paper discusses flexible multi-objective control design strategies based on LMI formulations to suitably trade-off between the usual road handling and ride comfort performance and the amount of energy to be harvested. An electromechanical regenerative vehicle suspension system is considered where the shock absorber of each wheel is replaced by a linear electrical motor which is actively governed. It is shown by simulations that multivariable centralized control laws designed on the basis of a full-car model of the suspension system are able to achieve larger amount of harvested energy under identical ride comfort prescriptions with respect to scalar decentralized control strategies, designed on the basis of a single quarter-car model and implemented independently on each wheel in a decentralized way. Improvement...

Research paper thumbnail of Distributed command governor strategies for multi-agent dynamical systems

Dottorato di Ricerca in Ingegneria dei Sistemi e Informatica XXIV Ciclo, a.a. 2011

Research paper thumbnail of Advanced Adaptive Street Lighting Systems for Smart Cities

Smart Cities, 2020

This paper reports the results of a recently concluded R&D project, SCALS (Smart Cities Adaptive ... more This paper reports the results of a recently concluded R&D project, SCALS (Smart Cities Adaptive Lighting System), which aimed at the development of all hardware/software components of an adaptive urban smart lighting architecture allowing municipalities to manage and control public street lighting lamps. The system is capable to autonomously adjust street lamps’ brightness on the basis of the presence of vehicles (busses/trucks, cars, motorcycles and bikes) and/or pedestrians in specific areas or segments of the streets/roads of interest to reduce the energy consumption. The main contribution of this work is to design a low cost smart lighting system and, at same time, to define an IoT infrastructure where each lighting pole is an element of a network that can increase their amplitude. More generally, the proposed smart infrastructure can be viewed as the basis of a wider technological architecture aimed at offering value-added services for sustainable cities. The smart architectur...

Research paper thumbnail of International Journal of Mathematical Models and Methods in Applied Sciences

Mathematical and computer tools of discrete dynamic modeling and analysis of complex systems in c... more Mathematical and computer tools of discrete dynamic modeling and analysis of complex systems in control loop

Research paper thumbnail of Fault-tolerant sensor reconciliation schemes based on unknown input observers

International Journal of Control, 2018

Research paper thumbnail of A distributed command governor based on graph colorability theory

International Journal of Robust and Nonlinear Control, 2018

Research paper thumbnail of Distributed iterative command governor schemes for interconnected linear systems

International Journal of Robust and Nonlinear Control, 2017

Research paper thumbnail of Command governor for constrained switched systems with scheduled model transition dwell times

International Journal of Robust and Nonlinear Control, 2017

Research paper thumbnail of Centralized and Distributed Command Governor Approaches for Water Supply Systems Management

IEEE Transactions on Systems, Man, and Cybernetics: Systems, 2016

Research paper thumbnail of A multiobjective H∞ control strategy for energy harvesting in regenerative vehicle suspension systems

International Journal of Control, 2017

Research paper thumbnail of A parallel distributed supervision strategy for multi-agent networked systems

Systems & Control Letters, 2016

Abstract This paper introduces a novel parallel distributed supervision strategy for interconnect... more Abstract This paper introduces a novel parallel distributed supervision strategy for interconnected linear systems subject to pointwise-in-time set-membership coordination constraints. The scheme is based on the Feed Forward Command Governor paradigm. It is assumed that the systems are locally regulated, possibly dynamically coupled, and connected via data links. The supervisor is in charge of enforcing coordination constraints by modifying, whenever necessary, the nominal reference signals so that the global coordination goal is achieved. The proposed method extends in a substantial way the sequential Distributed Command Governor previously developed by the authors by allowing each agent to modify its local reference in parallel with the others. The main idea consists in bounding each subsystem with a set of local artificial constraints able to ensure global constraints satisfaction. These virtual constraints are dynamically generated in a distributed way on the basis of the common information available to all agents. The proposed strategy is described and its properties analyzed. The performance of the obtained scheme is compared with previous solutions in the final example.

Research paper thumbnail of Unbiased Estimation of Sinusoidal Signal Parameters via Discrete-Time Frequency-Locked-Loop Filters

IEEE Transactions on Automatic Control, 2017

A novel class of discrete-time frequency-locked-loop nonlinear (FLL) filters is introduced and th... more A novel class of discrete-time frequency-locked-loop nonlinear (FLL) filters is introduced and their relevance for the on-line estimation of the parameters of a possibly time-varying sinusoidal signal is discussed. Continuous-time nonlinear FLL filters have been proposed in the literature because of their circuital simplicity and ability to provide unbiased estimates of the instantaneous frequency, phase and amplitude of a time-varying sinusoidal signal simultaneously. It is shown in this note that standard discretization techniques may fail to generate discrete-time FLL filters exhibiting the same good properties of the continuous-time domain. In particular, biased frequency estimates are usually produced by these discrete-time filters. In this note, such a drawback is overcome because the proposed discrete-time FLL filters are proved to enjoy semi-globally exponential stability and their estimates are unbiased. A final example is presented for assessment purposes where also comparisons with other discrete-time filters, among which some synthesized by means of standard discretization techniques, are provided.

Research paper thumbnail of Distributed Supervisory Strategies for Multi-agent Networked Systems

Complex Systems, 2016

Novel distributed supervisory strategies for multi-agent linear systems connected via data networ... more Novel distributed supervisory strategies for multi-agent linear systems connected via data networks and subject to coordination constraints are presented in this paper. Such a coordination-by-constraint paradigm is based on the online management of the prescribed set points and it is characterized by a set of spatially distributed dynamic systems, connected via communication channels, with possibly dynamical coupling amongst them which need to be supervised and coordinated in order to accomplish their overall objective. Two distributed strategies will be fully described and analysed. First, a “sequential” distributed strategy will be presented where only one agent per decision time is allowed to manipulate its own reference signal. Such a strategy will be instrumental to introduce a more effective “parallel” distributed strategy, in which all agents are allowed, under certain conditions, to modify their own reference signals simultaneously. Finally, some cases of study will be presented to show the effectiveness of the proposed methods.

Research paper thumbnail of Theoretical advances on Economic Model Predictive Control with time-varying costs

Research paper thumbnail of Economic Model Predictive Control-Based Strategies for Cost-Effective Supervision of Community Microgrids Considering Battery Lifetime

IEEE Journal of Emerging and Selected Topics in Power Electronics, 2015

Community-based microgrid (C-μGrid) systems are gaining increasing importance nowadays because of... more Community-based microgrid (C-μGrid) systems are gaining increasing importance nowadays because of the lack of μGrid public investment and management policies. Technoeconomic analysis shows that C-μGrid based on a cluster of microgenerators could be an effective solution when individual systems are not feasible. In this paper, the controlling capability of the central controller of the C-μGrid is improved through an economic model predictive control (EMPC) approach operating at the pricing level that can fulfill the goal of the operational control of the cluster. With a central controller, it is capable of satisfying the demand at prosumer (active energy producer and simultaneous consumer) sides and, at the same time, optimizing the various μGrid contrasting constraints. Emphasis here has been given to the operational constraints related to the battery lifetime, so that the maintenance and replacement costs would be reduced. A comparative analysis has been carried out between the performance of two systems, one based on an IF-THEN-ELSE heuristic supervision logic (S-LOGIC) and the other based on the proposed EMPC strategy. The analysis has been undertaken in a location in Dublin, Ireland, on the basis of available measured data. Simulation shows the effectiveness of implementing the EMPC approach to optimally manage the system.

Research paper thumbnail of A Steady-State Command Governor Strategy for Constrained Linear Systems

Research paper thumbnail of On average performance of Economic Model Predictive Control with time-varying cost and terminal constraints

2015 American Control Conference (ACC), 2015

This note extends from a theoretical perspective recent results in Economic Model Predictive Cont... more This note extends from a theoretical perspective recent results in Economic Model Predictive Control to the case of time-varying cost functionals and terminal constraints. Formal conditions are provided in order to achieve average performance bounds of the closed-loop system under suitable technical assumptions guaranteeing existence of an asymptotic average stage cost (for frozen control and state variables).

Research paper thumbnail of A dwell-time based Command Governor approach for constrained switched systems

2015 American Control Conference (ACC), 2015

In this paper a switched control architecture for constrained control systems is presented. The s... more In this paper a switched control architecture for constrained control systems is presented. The strategy is based on Command Governor (CG) ideas that are here specialized in order to jointly take into account switching events on the plant dynamics and time-varying constraints. The significance of the method relies in its capability to avoid constraint violation and loss of stability regardless of any configuration change in the plant/constraint structure by commuting the system configuration (model plant+CG) with a more adequate one. To this end the concept of model transition dwell time is used within the proposed control framework to formally define the minimum time necessary to enable a switching event under guaranteed conditions on the overall stability and constraint fulfillment.

Research paper thumbnail of A networked-based receding horizon scheme for constrained LPV systems

European Journal of Control, 2015

Abstract This paper deals with control problems for networked constrained polytopic Linear Parame... more Abstract This paper deals with control problems for networked constrained polytopic Linear Parameter Varying (LPV) systems. A novel LPV customization of a recent Receding Horizon robust Control (RHC) scheme developed for polytopic uncertainty systems is here proposed for the case where command inputs and state measurement are subject to time-varying delays. By taking advantage of the flexibility of the LPV structure, families of precomputed one-step controllable sets are off-line computed which result less conservative with respect to their robust counterparts. Finally, simulation results involving the constrained tracking problem of an unicycle-type mobile robot are reported to show the effectiveness and the benefits of the proposed control scheme.