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eess.SY2025
Stability Preserving Safe Control of a Bicopter
Jhon Manuel Portella Delgado, Ankit Goel
This paper presents a control law for stabilization and trajectory tracking of a multicopter subject to safety constraints. The proposed approach guarantees forward invariance of a…
math.OC2025
Computing Invariant Zeros of a MIMO Linear System Using State-Space Realization
Jhon Manuel Portella Delgado, Ankit Goel
Poles of a multi-input multi-output (MIMO) linear system can be computed by solving an eigenvalue problem; however, the problem of computing its invariant zeros is equivalent to a…