25 citations · 68 across the 16 of their papers we have counts for
17 papers
Active Disturbance Rejection for Boundary Control Systems
Jukka-Pekka Humaloja, Lassi Paunonen
We consider stabilisation of abstract boundary control systems and controlled partial differential equations with general unknown input disturbances and unmodeled nonlinearities at…
Observer Design for a Class of ODE -- Continuum-PDE Cascade Systems Inspired by a Control-Theoretic Model of Large-Scale Arterial Networks of Blood Flow
Jukka-Pekka Humaloja, Nikolaos Bekiaris-Liberis
We develop a backstepping-based observer design for a class of ODE - continuum-PDE cascade systems, which can be viewed as the limit, of a finite collection of ODE - h…
Micro-Macro Backstepping Control of Large-Scale Hyperbolic Systems (Extended Version)
Jukka-Pekka Humaloja, Nikolaos Bekiaris-Liberis
We introduce a control design and analysis framework for micro-macro, boundary control of large-scale, hyperbolic PDE systems. Specifically, we develop feedback laws for stab…
Observer-Based Output-Feedback Backstepping Stabilization of Continua of Hyperbolic PDEs and Application to Large-Scale Coupled Hyperbolic PDEs
Jukka-Pekka Humaloja, Nikolaos Bekiaris-Liberis
We develop a non-collocated, observer-based output-feedback law for a class of continua of linear hyperbolic PDE systems, which are viewed as the continuum version of , genera…
Model Reference-Based Control with Guaranteed Predefined Performance for Uncertain Strict-Feedback Systems
Mehdi Heydari Shahna, Jukka-Pekka Humaloja, Jouni Mattila
To address the complexities posed by time- and state-varying uncertainties and the computation of analytic derivatives in strict-feedback form (SFF) systems, this study introduces…
Backstepping Control of Continua of Linear Hyperbolic PDEs and Application to Stabilization of Large-Scale Coupled Hyperbolic PDE Systems
Jukka-Pekka Humaloja, Nikolaos Bekiaris-Liberis
We develop a backstepping control design for a class of continuum systems of linear hyperbolic PDEs, described by a coupled system of an ensemble of rightward transporting PDEs and…
On Computation of Approximate Solutions to Large-Scale Backstepping Kernel Equations via Continuum Approximation
Jukka-Pekka Humaloja, Nikolaos Bekiaris-Liberis
We provide two methods for computation of continuum backstepping kernels that arise in control of continua (ensembles) of linear hyperbolic PDEs and which can approximate backstepp…
Stabilization of a Class of Large-Scale Systems of Linear Hyperbolic PDEs via Continuum Approximation of Exact Backstepping Kernels
Jukka-Pekka Humaloja, Nikolaos Bekiaris-Liberis
We establish that stabilization of a class of linear, hyperbolic partial differential equations (PDEs) with a large (nevertheless finite) number of components, can be achieved via…
Region-free explicit model predictive control for linear systems on Hilbert spaces
Mikael Kurula, Jukka-Pekka Humaloja, Stevan Dubljevic
We extend discrete-time explicit model predictive control (MPC) rigorously to linear distributed parameter systems. After formulating an MPC framework and giving a relevant KKT the…
Robust Controllers for a Flexible Satellite Model
Thavamani Govindaraj, Jukka-Pekka Humaloja, Lassi Paunonen
We consider a PDE-ODE model of a flexible satellite that is composed of two identical flexible solar panels and a center rigid body. We prove that the satellite model is exponentia…
On Robust Regulation of PDEs: from Abstract Methods to PDE Controllers
Lassi Paunonen, Jukka-Pekka Humaloja
In this paper we study robust output tracking and disturbance rejection of linear partial differential equation (PDE) models. We focus on demonstrating how the abstract internal mo…
Subsystem-Based Control with Modularity for Strict-Feedback Form Nonlinear Systems
Janne Koivumäki, Jukka-Pekka Humaloja, Lassi Paunonen +2
This study proposes an adaptive subsystem-based control (SBC) for systematic and straightforward nonlinear~control of nth-order strict-feedback form (SFF) systems.~By decomposing t…
The interval turnpike property for adjoints
Timm Faulwasser, Lars Grüne, Jukka-Pekka Humaloja +1
In this work we derive an interval turnpike result for adjoints of finite- and infinite-dimensional nonlinear optimal control problems under the assumption of an interval turnpike…
Decentralized Observer Design for Virtual Decomposition Control
Jukka-Pekka Humaloja, Janne Koivumäki, Lassi Paunonen +1
In this paper, we incorporate velocity observer design into the virtual decomposition control (VDC) strategy of an -DoF open chain robotic manipulator. Descending from the VDC s…
Model Predictive Control for Regular Linear Systems
Stevan Dubljevic, Jukka-Pekka Humaloja
The present work extends known finite-dimensional constrained optimal control realizations to the realm of well-posed regular linear infinite-dimensional systems modelled by partia…
Approximate robust output regulation of boundary control systems
Jukka-Pekka Humaloja, Mikael Kurula, Lassi Paunonen
We extend the internal model principle for systems with boundary control and boundary observation, and construct a robust controller for this class of systems. However, as a conseq…
Robust Regulation of Infinite-Dimensional Port-Hamiltonian Systems
Jukka-Pekka Humaloja, Lassi Paunonen
We will give general sufficient conditions under which a controller achieves robust regulation for a boundary control and observation system. Utilizing these conditions we construc…