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著者： Alberto Padoan
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The first podcast on control theory.
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  • 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
    2026/09/13
    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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    1 時間 46 分
  • ep47 - Tore Hägglund and José Luis Guzman: the art of PID control

    ep47 - Tore Hägglund and José Luis Guzman: the art of PID control
    2026/08/17
    Outline00:00 - Intro08:35 - What is PID control?12:15 - The history: Minorsky, 1922, and steering ships21:00 - The lambda method, IMC, and analytical tuning28:45 - Set-point weighting and two degrees of freedom32:50 - Automatic tuning and the relay feedback problem40:35 - The Lund school and Karl Johan Åström50:20 - PID is nearly optimal57:30 - PID tuning: the elephant in the room1:01:35 - Open problems and the one-third rule1:05:45 - Feedforward: the unsung hero1:15:00 - PID as a building block in large-scale control1:21:40 - Teaching, outsourcing, and lost knowledge1:28:15 - PID in the AI age1:32:25 - Microalgae and sustainable process control1:40:05 - Advice for young researchers and the future of PIDLinksHägglund & Guzmán, "Give us PID controllers and we can control the world": https://doi.org/10.1016/j.ifacol.2024.08.018Minorsky, "Directional Stability of Automatically Steered Bodies": https://doi.org/10.1111/j.1559-3584.1922.tb04958.xHazen, "Theory of Servo-Mechanisms": https://doi.org/10.1016/S0016-0032(34)90254-4Ziegler & Nichols, "Optimum Settings for Automatic Controllers": https://doi.org/10.1115/1.4019264Dahlin, "Designing and Tuning Digital Controllers" (the lambda method): https://skoge.folk.ntnu.no/puublications_others/1968_Dahlin%20-%20Designing%20and%20tuning%20digital%20controllers.pdfRivera, Morari & Skogestad, "Internal Model Control: PID Controller Design": https://skoge.folk.ntnu.no/publications/1986/Rivera86/Rivera86.pdfÅström & Hägglund, "Automatic Tuning of Simple Regulators": https://cse.lab.imtlucca.it/~bemporad/teaching/controllodigitale/pdf/Astrom-ACC89.pdfHägglund & Åström, "Industrial Adaptive Controllers Based on Frequency Response Techniques": https://doi.org/10.1016/0005-1098(91)90052-4Åström & Hägglund, "The Future of PID Control": https://doi.org/10.1016/S0967-0661(01)00062-4Hägglund, "A Unified Discussion on Signal Filtering in PID Control": https://doi.org/10.1016/j.conengprac.2013.03.012Theorin & Hägglund, "Derivative Backoff: The Other Saturation Problem": https://doi.org/10.1016/j.jprocont.2015.06.008Hägglund, mid-ranging control (2021): https://skoge.folk.ntnu.no/puublications_others/apc-papers/midranging-control-vpc-hagglund-2020.pdfGuzmán & Hägglund, "Simple Tuning Rules for Feedforward Compensators": https://doi.org/10.1016/j.jprocont.2010.10.007Guzmán, Hägglund, Veronesi & Visioli, "Performance Indices for Feedforward Control": https://doi.org/10.1016/j.jprocont.2014.12.004Del Hoyo, Hägglund, Guzmán & Moreno: https://doi.org/10.1016/j.conengprac.2023.105636Pawlowski, Guzmán, Normey-Rico & Berenguel, "Improving Feedforward Disturbance Compensation in GPC": Improving feedforward disturbance compensation capabilities in Generalized Predictive ControlGuzmán & Hägglund, "Feedforward Control: Analysis, Design, Tuning Rules, and Implementation": https://books.google.it/books/about/Feedforward_Control.html?id=f_C00AEACAAJNormey-Rico & Guzmán, "Unified PID Tuning Approach for Dead-Time Processes": https://doi.org/10.3182/20120328-3-IT-3014.00006Soltesz & Cervin, "When Is PID a Good Choice?": https://doi.org/10.1016/j.ifacol.2018.06.074Grimholt, PID optimality: https://skoge.folk.ntnu.no/publications/thesis/2018_grimholt/phd-thesis-grimholt-2018.pdfHägglund & Guzmán, "Development of Basic Process Control Structures": https://doi.org/10.1016/j.ifacol.2018.06.202Skogestad, "Advanced Control Using Decomposition and Simple Elements": https://doi.org/10.1016/j.arcontrol.2023.100903Guzmán, Hägglund et al., "Understanding PID Design Through Interactive Tools": https://doi.org/10.3182/20140824-6-ZA-1003.01328ISA-TR5.9-2023, "Proportional-Integral-Derivative Control Algorithms and Performance": https://www.isa.org/products/isa-tr5-9-2023-proportional-integral-derivative-piVilanova & Visioli, "PID Control in the Third Millennium": https://books.google.it/books/about/PID_Controllers.html?id=FsyhngEACAAJBrian Douglas — control engineering education videos: https://engineeringmedia.com/videosA Practical Guide to PID Controller Implementation: https://arxiv.org/abs/2604.15918Support the showPodcast infoPodcast website: https://www.incontrolpodcast.com/Apple Podcasts: https://tinyurl.com/5n84j85jSpotify: https://tinyurl.com/4rwztj3cRSS: https://tinyurl.com/yc2fcv4yYoutube: https://tinyurl.com/bdbvhsj6Facebook: https://tinyurl.com/3z24yr43Twitter: https://twitter.com/IncontrolPInstagram: https://tinyurl.com/35cu4kr4Acknowledgments and sponsorsThis episode was supported by the National Centre of Competence in Research on «Dependable, ubiquitous automation» and the IFAC Activity fund. The podcast benefits from the help of an incredibly talented and passionate team. Special thanks to L. Seward, E. Cahard, F. Banis, F. Dörfler, J. Lygeros, ETH studio and mirrorlake . Music was composed by A New Element.
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    1 時間 43 分
  • ep46 - The fall of LTCM: Bachelier, Merton, and Black–Scholes ... when stochastic control met Wall Street

    ep46 - The fall of LTCM: Bachelier, Merton, and Black–Scholes ... when stochastic control met Wall Street
    2026/07/15
    Outline00:00 - Intro02:25 - Bachelier and the Théorie de la Spéculation03:05 - Stochastic processes, Brownian motion, and the heat equation09:45 - Poincaré's verdict, obscurity, and rediscovery13:50 - Robert C. Merton: from hot rods to MIT19:25 - Dynamic programming and Itô calculus24:35 - Merton's portfolio problem as stochastic optimal control31:10 - Options, dynamic hedging, and the Black–Scholes–Merton equation39:50 - LTCM: the dream team46:30 - August 1998: the crash49:00 - Fat tails and the ten-sigma defense51:40 - The ghosts of 2008 and echoes in the AI boom54:00 - Robustness embraced at last: Hansen and Sargent57:45 - OutroLinksBachelier's thesis, "Théorie de la Spéculation" (1900): https://www.numdam.org/item/10.24033/asens.476.pdfCourtault et al., "Louis Bachelier on the Centenary of Théorie de la Spéculation": https://doi.org/10.1111/1467-9965.00098Merton's Nobel autobiography: https://www.nobelprize.org/prizes/economic-sciences/1997/merton/biographical/Merton's MIT "Infinite History" interview: https://infinite.mit.edu/video/robert-c-merton-phd-%E2%80%9970/Mandelbrot, "The Variation of Certain Speculative Prices": https://doi.org/10.1086/294632Merton, "Optimum Consumption and Portfolio Rules in a Continuous-Time Model": https://doi.org/10.1016/0022-0531(71)90038-XMoehle & Boyd, "A Certainty Equivalent Merton Problem": https://doi.org/10.1109/LCSYS.2021.3111534Brigo & Mercurio, "Interest Rate Models: Theory and Practice": https://doi.org/10.1007/978-3-540-34604-3Armstrong, Brigo & Hanzon, "Optimal Projection Filters with Information Geometry": https://doi.org/10.1007/s41884-023-00108-xHu & Zhou, "Constrained Stochastic LQ Control with Random Coefficients, and Application to Portfolio Selection": https://doi.org/10.1137/S0363012904441969Black & Scholes, "The Pricing of Options and Corporate Liabilities": https://doi.org/10.1086/260062Merton, "Theory of Rational Option Pricing": https://doi.org/10.2307/3003143Merton, "Option Pricing When Underlying Stock Returns Are Discontinuous": https://doi.org/10.1016/0304-405X(76)90022-2Scholes' Nobel lecture: https://www.nobelprize.org/prizes/economic-sciences/1997/scholes/lecture/Merton's Nobel lecture: https://www.nobelprize.org/prizes/economic-sciences/1997/merton/lecture/Markowitz, "Portfolio Selection": https://doi.org/10.2307/2975974Michael Lewis, "Liar's Poker": https://en.wikipedia.org/wiki/Liar%27s_PokerEdwards, "Hedge Funds and the Collapse of Long-Term Capital Management": https://doi.org/10.1257/jep.13.2.189Lowenstein, "When Genius Failed": https://en.wikipedia.org/wiki/When_Genius_FailedTaleb, "Statistical Consequences of Fat Tails": https://arxiv.org/abs/2001.10488Taleb & West, "Working with Convex Responses: Antifragility from Finance to Oncology": https://doi.org/10.3390/e25020343Taleb, "The Black Swan": https://en.wikipedia.org/wiki/The_Black_Swan:_The_Impact_of_the_Highly_ImprobableTaleb, "Fooled by Randomness": https://en.wikipedia.org/wiki/Fooled_by_RandomnessMan Group, "The AI Bubble: Hidden Risks and Opportunities": https://www.man.com/insights/the-ai-bubbleSen. Warren's remarks at the Vanderbilt Policy Accelerator: https://www.banking.senate.gov/newsroom/minority/warren-remarks-at-vanderbilt-policy-accelerator-event-highlighting-economic-and-financial-risks-of-potential-ai-crashMeng & Chen, "Artificial Intelligence and Systemic Risk": https://arxiv.org/abs/2604.03272Doyle, "Guaranteed Margins for LQG Regulators": https://doi.org/10.1109/TAC.1978.1101791Safonov & Athans, "Gain and Phase Margin for Multiloop LQG Regulators": https://doi.org/10.1109/TAC.1977.1101470Hansen & Sargent, "Robust Control and Model Uncertainty": https://doi.org/10.1257/aer.91.2.60Hansen & Sargent, "Wanting Robustness in Macroeconomics": http://www.tomsargent.com/research/wanting.pdfSupport the showPodcast infoPodcast website: https://www.incontrolpodcast.com/Apple Podcasts: https://tinyurl.com/5n84j85jSpotify: https://tinyurl.com/4rwztj3cRSS: https://tinyurl.com/yc2fcv4yYoutube: https://tinyurl.com/bdbvhsj6Facebook: https://tinyurl.com/3z24yr43Twitter: https://twitter.com/IncontrolPInstagram: https://tinyurl.com/35cu4kr4Acknowledgments and sponsorsThis episode was supported by the National Centre of Competence in Research on «Dependable, ubiquitous automation» and the IFAC Activity fund. The podcast benefits from the help of an incredibly talented and passionate team. Special thanks to L. Seward, E. Cahard, F. Banis, F. Dörfler, J. Lygeros, ETH studio and mirrorlake . Music was composed by A New Element.
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    1 時間 1 分
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