The need of achieving always better performance in present and future tokamak devices has pushed plasma control to gain more and more importance in tokamak engineering. When high performance and robustness are required, it is essential to adopt a model-based approach to design a control system. In this paper we introduce the basics of plasma current, shape position control in tokamaks. As examp...

This paper examines event-triggered broadcasting of state information in distributed networked systems. Event-triggering has the agent broadcast its state information when its local “error” signal exceeds a given threshold. We present a decentralized approach for determining event-triggering thresholds for nonlinear subsystems with the assumption that each agent only has access to its local sta...

A stability result is given for hybrid control systems singularly perturbed by fast but continuous actuators. If a hybrid control system has a compact set globally asymptotically stable when the actuator dynamics are omitted, or equivalently, are infinitely fast, then the same compact set is semiglobally practically asymptotically stable in the finite speed of the actuator dynamics. This result...

The control problem of a linear discrete-time dynamical system over a multi-hop network is explored. The network is assumed to be subject to packet drops by malicious and nonmalicious nodes as well as random and malicious data corruption issues. We utilize asymptotic tail-probability bounds of transmission failure ratios to characterize the links and paths of a network as well as the network it...

We investigate manipulation and active sensing by a pushing control system using only tactile feedback. The equations of motion of a pushed object are derived using a model of the object’s limit surface, and we design a control system to translate and orient objects. The effectiveness of the proposed controller is confirmed through simulation and experiments. Active sensing of the object’s cent...