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eess.SY2024
Dissipative iFIR filters for data-driven design
Zixing Wang, Yi Zhang, Fulvio Forni
We tackle the problem of providing closed-loop stability guarantees with a scalable data-driven design. We combine virtual reference feedback tuning with dissipativity constraints…
cs.RO2024
Optimal Virtual Model Control for Robotics: Design and Tuning of Passivity-Based Controllers
Daniel Larby, Fulvio Forni
Passivity-based control is a cornerstone of control theory and an established design approach in robotics. Its strength is based on the passivity theorem, which provides a powerful…