『ep48 - Romeo Ortega: From sliding modes to adaptive, passivity-based and energy-shaping control』のカバーアート

ep48 - Romeo Ortega: From sliding modes to adaptive, passivity-based and energy-shaping control

ep48 - Romeo Ortega: From sliding modes to adaptive, passivity-based and energy-shaping control

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Outline00:00 - Intro01:31 - Mexico City to Leningrad: a communist girlfriend, and a year of Russian05:40 - Sliding modes at the source10:38 - France: Ioan Landau, Laurent Praly, and dynamic normalization16:25 - Continuity, robustness, and the Rohrs counterexamples24:18 - On Gerhard Kreisselmeier28:04 - Illinois and Mexico 35:31 - Mark Spong, Twente, and passivity-based control46:32 - Energy shaping, damping injection, and total energy shaping49:50 - IDA-PBC, written on a napkin in a Paris café58:09 - Putting Energy Back in Control, Slotine, and the dissipation obstacle1:02:50 - Where good problems come from: knock on the practitioners' door1:06:23 - Immersion and invariance1:13:40 - Power shaping, Brayton and Moser, and shifted passivity 1:19:29 - Power systems and going back to Russia1:27:23 - DREM: the adjugate trick that decouples parameter estimation1:31:11 - Sensorless observers1:34:44 - A seminar in Yakubovich's flat and on data-driven control1:41:47 - Advice to the next generation1:44:43 - OutroLinksRomeo Ortega's website: https://facultad.itam.mx/facultad/romeo-ortega-martinezUtkin, "Variable structure systems with sliding modes": https://doi.org/10.1109/TAC.1977.1101446Variable structure systems with chattering reduction: https://doi.org/10.1016/0005-1098(84)90076-1Robustness of discrete-time direct adaptive controllers (dynamic normalization): https://doi.org/10.1109/TAC.1985.1103890Robustness of adaptive controllers, a survey: https://doi.org/10.1016/0005-1098(89)90023-XComments on the robust stability analysis of adaptive controllers using normalizations: https://doi.org/10.1109/9.28033Feuer & Morse, "Adaptive control of single-input single-output linear systems": https://doi.org/10.1109/TAC.1978.1101822Rohrs, Valavani, Athans & Stein, "Robustness of continuous-time adaptive control algorithms in the presence of unmodeled dynamics": https://doi.org/10.1109/TAC.1985.1104070Åström's commentary on the Rohrs et al. paper: https://doi.org/10.1109/TAC.1985.1104066Hsu & Costa, "Bursting phenomena in continuous-time adaptive systems with a sigma-modification": https://doi.org/10.1109/TAC.1987.1104440Karafyllis & Krstić, "Robust Adaptive Control: Deadzone-Adapted Disturbance Suppression": https://doi.org/10.1137/1.9781611978438Discrete-time model reference adaptive control using generalized sampled-data hold functions: https://doi.org/10.1109/9.50351Kreisselmeier, "The generation of adaptive law structures for globally convergent adaptive observers": https://doi.org/10.1109/TAC.1979.1102066Gao, Bosso, Wang, Saussié & Yi, "Input-output data-driven stabilization of continuous-time linear MIMO systems": https://arxiv.org/abs/2511.06524Adaptive motion control of rigid robots, a tutorial (where "passivity-based control" is coined): https://doi.org/10.1016/0005-1098(89)90054-XTakegaki & Arimoto, "A new feedback method for dynamic control of manipulators": https://doi.org/10.1115/1.3139651Torque regulation of induction motors: https://doi.org/10.1016/0005-1098(93)90059-3Passivity-based Control of Euler-Lagrange Systems: https://doi.org/10.1007/978-1-4471-3603-3PID Passivity-Based Control of Nonlinear Systems with Applications: https://doi.org/10.1002/9781119694199PID passivity-based control of port-Hamiltonian systems (all passive outputs): https://doi.org/10.1109/TAC.2017.2732283Energy-shaping of port-controlled Hamiltonian systems by interconnection: https://doi.org/10.1109/CDC.1999.830260Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems (IFAC High Impact Paper Award 2026): https://doi.org/10.1016/S0005-1098(01)00278-3Putting energy back in control: https://doi.org/10.1109/37.915398Slotine, "Putting physics in control": https://doi.org/10.1109/37.9164Chang, Bloch, Leonard, Marsden & Woolsey, "The equivalence of controlled Lagrangian and controlled Hamiltonian systems": https://doi.org/10.1051/cocv:2002045The matching conditions of controlled Lagrangians and IDA-passivity based control: https://doi.org/10.1080/00207170210135939Control by interconnection and standard passivity-based control of port-Hamiltonian systems: https://doi.org/10.1109/TAC.2008.2006930Ferguson & Borja, "Control-by-interconnection beyond Casimirs and connections to IDA-PBC": https://doi.org/10.1109/TAC.2026.3661486Immersion and invariance, a new tool for stabilization and adaptive control of nonlinear systems: https://doi.org/10.1109/TAC.2003.809820Nonlinear and Adaptive Control with Applications: https://doi.org/10.1007/978-1-84800-066-7Brayton & Moser, "A theory of nonlinear networks I": https://doi.org/10.1090/qam/169746Power shaping, a new paradigm for stabilization of nonlinear RLC circuits: https://doi.org/10.1109/TAC.2003.817918Passivity of nonlinear incremental systems: https://doi.org/10.1016/j.sysconle.2007.03.011Interconnection and damping assignment approach to control of PM synchronous motors: https://doi.org/10.1109/87.960344An energy-shaping approach to the ...
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