Outline

00:00 – Intro

00:51 – Early steps in research

09:55 – Historical overview of traffic control

25:20 – What is traffic?

34:06 – Road traffic control

45:37 – PI control of road junctions

58:19 – From macroscopic to microscopic simulations and back

1:10:08 – Dynamic traffic assignment

1:21:28 – Return to Greece

1:28:33 – The optimal control problem

1:41:48 – Traffic estimation

1:47:34 – The impact of automation and connectivity

1:59:20 – Traffic as an artificial fluid

2:07:51 – The future of traffic control

2:10:48 – Advice to future students

2:13:53 – Outro

Link

Homepage: https://tinyurl.com/yw7kee97

CSS day lecture: https://tinyurl.com/46vua4r7

Monograph - Applications of Automatic Control Concepts to Traffic Flow Modeling and Control: https://tinyurl.com/5czax788

Review of road traffic control strategies: https://tinyurl.com/48u235pw

ALINEA: https://tinyurl.com/bdtvny87

METANET: https://tinyurl.com/3h9xv48t

AIMSUM:https://tinyurl.com/mr2xkryj

AMOC: https://tinyurl.com/3v2xysr2

HERO: https://tinyurl.com/yzn6vkwh

Real-time freeway traffic state estimation based on extended Kalman filter: a general approach: https://tinyurl.com/2ubsh7cy

TRAMAN: https://tinyurl.com/ypr65cfa

Coordinated and integrated control of motorway networks via non-linear optimal control: https://tinyurl.com/3v2xysr2

Motorway traffic flow modelling, estimation and control with vehicle automation and communication systems: https://tinyurl.com/49679hy8

From road congestion to vehicle-control enabled artificial traffic fluids: https://tinyurl.com/pk4j8htp

Support the show

Podcast info
Podcast website: https://www.incontrolpodcast.com/
Apple Podcasts: https://tinyurl.com/5n84j85j
Spotify: https://tinyurl.com/4rwztj3c
RSS: https://tinyurl.com/yc2fcv4y
Youtube: https://tinyurl.com/bdbvhsj6
Facebook: https://tinyurl.com/3z24yr43
Twitter: https://twitter.com/IncontrolP
Instagram: https://tinyurl.com/35cu4kr4

Acknowledgments and sponsors
This 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.

Outline
00:00 – Intro
01:19 – Early steps: PhD journey & robotic hands
15:42 – What is a soft robot?
23:35 – MIT years & models of soft robots
30:01 – Discretization & underactuation
37:21 – The regulation problem
47:01 – Pros and cons of soft robots
51:42 – The soft inverted pendulum
1:05:27 – Eigenmanifolds
1:15:22 – Physical intelligence
1:26:09 – On machine learning
1:37:49 – Embodied AI & TC on Robot Control
1:44:50 – Advice to future students

Links
- Cosimo’s website: https://tinyurl.com/mt37597k
- Piaggio Center: https://tinyurl.com/muryjw5h
- Pisa Robotic Hand: https://tinyurl.com/4ujtec59
- Model-Based Dynamic Controller for a Planar Soft Robot: https://tinyurl.com/5a8fv3c8
- Soft Robot definition (Encyclopaedia of Robotics): https://tinyurl.com/3y2jz987
- Isidori’s book: https://tinyurl.com/42254hav
- CSM magazine paper: https://tinyurl.com/bd54an6x
- Cosserat rod theory: https://tinyurl.com/zu73nadx
- Strain function: https://tinyurl.com/y8v63ue2
- Zero dynamics: https://tinyurl.com/2ezarn5e
- The soft inverted pendulum: https://tinyurl.com/y4bzkkup
- Templates and anchors: https://tinyurl.com/2957w6sz
- Exciting Efficient Oscillations Through Eigenmanifold Stabilisation: https://tinyurl.com/yc3586y5
- When Do Lyapunov Subcentre Manifolds Become Eigenmanifolds?: https://tinyurl.com/5tckw7xe
- Passive walker: https://tinyurl.com/yjwwapv5
- Strandbeests: https://tinyurl.com/494mfccu
- Physical control: https://tinyurl.com/bdddb6ur
- Morphological computation: https://tinyurl.com/an6vaahx
- The Playful Machine: https://tinyurl.com/5525xys2

Support the show

Podcast info
Podcast website: https://www.incontrolpodcast.com/
Apple Podcasts: https://tinyurl.com/5n84j85j
Spotify: https://tinyurl.com/4rwztj3c
RSS: https://tinyurl.com/yc2fcv4y
Youtube: https://tinyurl.com/bdbvhsj6
Facebook: https://tinyurl.com/3z24yr43
Twitter: https://twitter.com/IncontrolP
Instagram: https://tinyurl.com/35cu4kr4

Acknowledgments and sponsors
This 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.

Outline

00:00 - Intro
01:06 - The big idea
03:42 - Controllability, observability, and ... the space race!
14:52 - Kálmán and the state-space paradigm
00:00 - The math and intuition: state-space basics, definitions, and duality
00:00 - A touch of nonlinearity
00:00 - Developments in the field: a chronological tour
00:00 - Controllability and observability: quo vaditis?
00:00 - Outro

Links
Kálmán: https://tinyurl.com/bdzj7mtr
Controllability: https://tinyurl.com/28s5zxpn
Observability: https://tinyurl.com/yjxncxdn
Paper - "Contributions to the theory of optimal control": https://tinyurl.com/9wwf8pvh
Paper - "Discovery and Invention": https://tinyurl.com/ryfn463n
Kálmán's speech - Kyoto Prize : https://tinyurl.com/2ahrjdah
Paper - Controllability of complex networks: https://tinyurl.com/3zk99n4s

Support the show

Podcast info
Podcast website: https://www.incontrolpodcast.com/
Apple Podcasts: https://tinyurl.com/5n84j85j
Spotify: https://tinyurl.com/4rwztj3c
RSS: https://tinyurl.com/yc2fcv4y
Youtube: https://tinyurl.com/bdbvhsj6
Facebook: https://tinyurl.com/3z24yr43
Twitter: https://twitter.com/IncontrolP
Instagram: https://tinyurl.com/35cu4kr4

Acknowledgments and sponsors
This 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.

Outline

00:00 - Intro

00:42 - “Research should be fun”

02:02 - Early steps in research

09:00 - Book writing and meeting C. Desoer

18:33 - Control synthesis via the factorization approach

25:46 - The graph metric

29:27 - Robotics and CAIR

36:00 - Randomized algorithms

40:41 - On learning

44:05 - Neural networks

48:40 - Tata, hidden Markov models, and large deviations theory

55:48 - Picking problems and role of luck

58:07 - Compressed sensing and non-convex optimization

01:02:17 - Interplay between control and machine learning

01:09:10 - Advice to future students

01:13:29 - Future of control

Links

Sagar’s website: https://tinyurl.com/4hwruajs

Hilbert: https://tinyurl.com/ykpdh929

Feedback Systems: https://tinyurl.com/2k3jsdat

How to Write Mathematics: https://tinyurl.com/35794bv9

Nonlinear systems: https://tinyurl.com/2fdtnjcm

C. Desoer: https://tinyurl.com/svhknren

Control Systems Synthesis — A Factorization Approach: https://tinyurl.com/59wdc4sv

Aryabhata: https://tinyurl.com/43x6hfhp

A Brief History of the Graph Topology: https://tinyurl.com/49uftzdk

Robot Dynamics and Control: https://tinyurl.com/5b4cmt7m

CAIR: https://tinyurl.com/rajdtxax

Randomized algorithms for robust controller synthesis using statistical learning theory: https://tinyurl.com/wanpyeuc

R. Tempo: https://tinyurl.com/jkufdwar

VC dimension: https://tinyurl.com/mvwk8afm

Learning and Generalisation: https://tinyurl.com/2s3mzh8h

Are Analog Neural Networks Better Than Binary Neural Networks? https://tinyurl.com/3fnk27xc

Hidden Markov Processes: https://tinyurl.com/t5frrvfz

An Introduction to Compressed Sensing: https://tinyurl.com/fc6a8eer

Support the show

Podcast info
Podcast website: https://www.incontrolpodcast.com/
Apple Podcasts: https://tinyurl.com/5n84j85j
Spotify: https://tinyurl.com/4rwztj3c
RSS: https://tinyurl.com/yc2fcv4y
Youtube: https://tinyurl.com/bdbvhsj6
Facebook: https://tinyurl.com/3z24yr43
Twitter: https://twitter.com/IncontrolP
Instagram: https://tinyurl.com/35cu4kr4

Acknowledgments and sponsors
This 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.

Outline
00:00 - Intro and early steps in control
06:42 - Journey to the US
08:30 - Kharitonov's theorem and early influences
12:10 - From Lund to KTH (Stockholm)
15:01 - Ascona and collaboration with Megretski
24:06 - The IMA year in Minnesota
33:50 - Integral quadratic constraints
46:10 - KYP lemma and meeting Yakubovich
52:35 - Piecewise hybrid systems
59:41 - Dual to Lyapunov theorem
1:06:48 - Positivity and large scale systems
1:15:25 - Adaptive and dual control
1:25:24 - Future research directions

Links
Master's thesis: https://tinyurl.com/vnkuf44a
Kharitonov's theorem: https://tinyurl.com/3w3a3z52
IMA: https://cse.umn.edu/ima
LCCC: http://www.lccc.lth.se/
Real stability radius paper: https://tinyurl.com/yc79zt58
IQC paper: https://tinyurl.com/mw2te4vw
KYP lemma paper: https://tinyurl.com/2fv32yw6
Piecewise quadratic Lyapunov functions for hybrid systems: https://tinyurl.com/38a5f432
Piecewise linear quadratic optimal control: https://tinyurl.com/yhddbhpx
Fast switches in relay feedback systems: https://tinyurl.com/23e95k9n
Dual to Lyapunov's stability theorem: https://tinyurl.com/yc2uf652
ECC’15 plenary: https://tinyurl.com/sy3k7vf7
Scalable control of positive systems: https://tinyurl.com/3vcda447
Tutorial on Positive Systems and Large Scale Control: https://tinyurl.com/3e4fkxz8
KYP lemma for positive systems: https://tinyurl.com/3pdp3p7p
CDC’25 plenary: https://tinyurl.com/497py5wh
Data driven Riccati equation: https://tinyurl.com/3swjtvab

Support the show

Podcast info
Podcast website: https://www.incontrolpodcast.com/
Apple Podcasts: https://tinyurl.com/5n84j85j
Spotify: https://tinyurl.com/4rwztj3c
RSS: https://tinyurl.com/yc2fcv4y
Youtube: https://tinyurl.com/bdbvhsj6
Facebook: https://tinyurl.com/3z24yr43
Twitter: https://twitter.com/IncontrolP
Instagram: https://tinyurl.com/35cu4kr4

Acknowledgments and sponsors
This 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.

Outline
00:00 - Intro
01:07 - Early steps
02:47 - Why control?
05:20 - The move to the US
07:40 - The first journal paper
13:30 - What is backstepping?
17:08 - Grad school
25:10 - Stochastic stabilization
29:53 - The interest in PDEs
43:24 - Navier-Stokes equations
52:12 - Hyperbolic PDEs and traffic models
57:51 - Predictors for long delays
1:08:14 - Extremum seeking
1:27:14 - Safe control
1:36:30 - Interplay between machine learning and control
1:42:28 - Back to the roots: robust adaptive control
1:50:50 - On service
1:55:54 - Advice

Links
Miroslav’s site: https://flyingv.ucsd.edu/
Tuning functions paper: https://tinyurl.com/yznv6r9r
P. Kokotović: https://tinyurl.com/mwmbm9yh
Separation and swapping: https://tinyurl.com/y4fre6t8
Adaptive nonlinear stabilizers: https://tinyurl.com/4a9wmmvx
KKK book: https://tinyurl.com/2kw2b4k6
Stochastic nonlinear stabilization: https://tinyurl.com/4td3537a
Follow-up with unknown covariance: https://tinyurl.com/4c4n7fd7
Boundary state feedbacks for PIDEs: https://tinyurl.com/4e9y4tdr
Boundary Control of PDEs: https://tinyurl.com/d8x38bmj
Stabilization of Navier–Stokes systems: https://tinyurl.com/4a8cbjem
Traffic congestion control: https://tinyurl.com/525jphs5
Delay compensation: https://tinyurl.com/5yz6uj9p
Nonlinear predictors for long delays: https://tinyurl.com/7wvce6vy
Stability of extremum seeking: https://tinyurl.com/mr5cvzd3
Nash equilibrium seeking: https://tinyurl.com/yeywrysn
Inverse optimal safety filters: https://tinyurl.com/9dkrpvkk
Neural operators for PDE control: https://tinyurl.com/5yynsp7v
Bode lecture: https://tinyurl.com/mp92cs9u
CSM article:

Support the show

Podcast info
Podcast website: https://www.incontrolpodcast.com/
Apple Podcasts: https://tinyurl.com/5n84j85j
Spotify: https://tinyurl.com/4rwztj3c
RSS: https://tinyurl.com/yc2fcv4y
Youtube: https://tinyurl.com/bdbvhsj6
Facebook: https://tinyurl.com/3z24yr43
Twitter: https://twitter.com/IncontrolP
Instagram: https://tinyurl.com/35cu4kr4

Acknowledgments and sponsors
This 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.

Outline
00:00 - Intro
03:26 - Development: ETH Zürich
07:15 - Growth: Minnesota and Wisconsin
36:16 - Productivity: Caltech
53:28 - Change: ETH Zürich
01:37:18 - Continuity: University of Pennsylvania
01:45:36 - Outro

Links
Manfred’s website: https://tinyurl.com/mryp38w3
Farewell lecture: https://tinyurl.com/2j5uxsp4
Laying the foundations: an advisor’s perspective: https://tinyurl.com/ym5e4437
Internal model control. A unifying review and some new results: https://tinyurl.com/vmm7a4tk
Internal model control - PID controller design: https://tinyurl.com/rup3azjm
Robust process control: https://tinyurl.com/8uhurkub
Robust control of ill-conditioned plants: high-purity distillation: https://tinyurl.com/5xfty34c
Computational complexity of \mu calculation: https://tinyurl.com/24yvvcc7
Robust constrained model predictive control using linear matrix inequalities: https://tinyurl.com/3pdk55kk
Control of systems integrating logic, dynamics, and constraints: https://tinyurl.com/489ekvsn
The explicit linear quadratic regulator for constrained systems: https://tinyurl.com/mr2e3z83
Model predictive control: https://tinyurl.com/2s4dafkd
Parametric programming: https://tinyurl.com/2u9vj79y
Embotech: https://tinyurl.com/3f99ks65
Embedded online optimization for model predictive control at megahertz rates: https://tinyurl.com/59z3vnb9
Donoho’s “Bridge from mathematical to digital and back”: https://tinyurl.com/3f9fk73w

Support the show

Podcast info
Podcast website: https://www.incontrolpodcast.com/
Apple Podcasts: https://tinyurl.com/5n84j85j
Spotify: https://tinyurl.com/4rwztj3c
RSS: https://tinyurl.com/yc2fcv4y
Youtube: https://tinyurl.com/bdbvhsj6
Facebook: https://tinyurl.com/3z24yr43
Twitter: https://twitter.com/IncontrolP
Instagram: https://tinyurl.com/35cu4kr4

Acknowledgments and sponsors
This 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.

Outline
00:00 - Intro
02:42 - Early life
10:24 - WWII, Johns Hopkins, Belleville, Madison
17:17 - Princeton
20:30 - Los Alamos
24:12 - Back to Princeton
31:01 - RAND + Stanford
42:10 - Dynamic programming
46:06 - Project matterhorn
51:00 - Back to RAND
56:14 - Curse of dimensionality
1:02:41 - Divorce and remarriage
1:08:29 - Greenglass affair
1:14:21 - USC
1:18:55 - Center for the Study of Democratic Institutions
1:22:55 - Last years
1:26:08 - Outro

Links
R. Bellman: https://tinyurl.com/ydkmwexy
C. M. Bellman: https://tinyurl.com/yfbafetj
Dynamic programming: https://tinyurl.com/mtsuampr
Curse of dimensionality: https://tinyurl.com/383yads8
Hamilton-Jacobi-Bellman equation: https://tinyurl.com/muu4ckvs
Bellman equation: https://tinyurl.com/y8bvzztm
Grönwall-Bellman inequality: https://tinyurl.com/mrwdxzd8
S. Lefschetz: https://tinyurl.com/2s39nnzv
RAND corporation: https://tinyurl.com/4bfyhp9p
Eye of the hurricane: https://tinyurl.com/bd6h84ka
G. Szegő: https://tinyurl.com/mrthmmvm
Project Matterhorn: https://tinyurl.com/5az9c3sh
D. Greenglass: https://tinyurl.com/p2kfp7cz
Center for the Study of Democratic Institutions: https://tinyurl.com/3vkupdty

Support the show

Podcast info
Podcast website: https://www.incontrolpodcast.com/
Apple Podcasts: https://tinyurl.com/5n84j85j
Spotify: https://tinyurl.com/4rwztj3c
RSS: https://tinyurl.com/yc2fcv4y
Youtube: https://tinyurl.com/bdbvhsj6
Facebook: https://tinyurl.com/3z24yr43
Twitter: https://twitter.com/IncontrolP
Instagram: https://tinyurl.com/35cu4kr4

Acknowledgments and sponsors
This 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.