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Moussa Labbadi

Publications and source records attributed to Moussa Labbadi.

13 recordsLinked to original sources
arXiv2026

Accelerated Stabilization of Switched Linear MIMO Systems using Generalized Homogeneity

This paper addresses the problem of exponential and accelerated finite-time, as well as nearly fixed-time, stabilization of switched linear MIMO systems. The proposed approach relies on a generalized homogenization framework for switched linear systems and employs implicit Lyapunov functions for control design, covering both common and multiple Lyapunov function settings. Linear matrix equations and inequalities are derived to characterize the dilation generator and to synthesize the controller gains. Robustness of the resulting control laws with respect to system uncertainties and external disturbances is analyzed. The effectiveness of the proposed approach is illustrated through numerical examples.

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arXiv2026

On Robust Fixed-Time Stabilization of the Cauchy Problem in Hilbert Spaces

This paper presents finite-time and fixed-time stabilization results for inhomogeneous abstract evolution problems, extending existing theories. We prove well-posedness for strong and weak solutions, and estimate upper bounds for settling times for both homogeneous and inhomogeneous systems. We generalize finite-dimensional results to infinite-dimensional systems and demonstrate partial state stabilization with actuation on a subset of the domain. The interest of these results are illustrated through an application of a heat equation with memory term.

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arXiv2025

Robust safety design for strict-feedback nonlinear systems via observer-based linear time varying feedback

This paper develops a robust safety-critical control method for nonlinear strictfeedback systems with mismatched disturbances. Using a state transformation and a linear time-varying disturbance observer, the system is converted into a form that enables safe control design. The approach ensures forward invariance of the safety set and also applies to disturbancefree systems. Safety is proven for all cases, and a numerical example illustrates the results.

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arXiv2025

Finite-Time Control Based on Differential Flatness for Wheeled Mobile Robots with Experimental Validation

A robust tracking control strategy is designed to empower wheeled mobile robots (WMRs) to track predetermined routes while operating in diverse fields and encountering disturbances like strong winds or uneven path conditions, which affect tracking performance. Ensuring the applicability of this tracking method in real-world scenarios is essential. To accomplish this, the WMR model is initially transformed into a linear canonical form by leveraging the differential flatness of its kinematic model, facilitating controller design. Subsequently, a novel integral nonlinear hyperplane-based sliding mode control (INH-SMC) technique is proposed for WMR under disturbances. The stability of the technique is analyzed and verified. Finally, its practical viability is demonstrated through a comparative real-world indoor experiment on a TurtleBot3 WMR subjected to disturbances, confirming the feasibility and efficacy of the proposed approach.

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arXiv2025

Sliding Mode Control for a Parabolic-Elliptic PDE System with Boundary Perturbation

In this paper, we address the robustness of parabolic-elliptic systems under boundary control. A sliding mode control strategy is proposed to reject matched perturbations. The stability analysis establishes finite-time convergence of the sliding manifold and exponential stability of the closed-loop system. Since the closed-loop system is discontinuous, we also prove its well-posedness. A numerical example is provided to validate the effectiveness of the proposed approach.

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arXiv2025

Virtual Resistance-Based Control for Grid-Connected Inverters using Persidskii Systems Approach

This work addresses virtual resistance (VR)based control for grid-connected inverters, which enhances transient damping, reduces steady-state errors, and improves robustness to grid disturbances without requiring additional voltage sensors. Classical passivity-based VR control is robust, but limited by restrictive sector bounds on nonlinearities. We extend these bounds and model the closed-loop system as a generalized Persidskii-type nonlinear system. Using this framework, we derive input-to-state stability (ISS) conditions that account for the extended nonlinearities and external disturbances, providing a systematic and less conservative approach to VR control design under practical operating conditions, which is validated through extensive simulations.

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arXiv2025

On Hyperexponential Stabilization of Linear Infinite-Dimensional Systems

This paper study the hyperexponential stabilization for infinite-dimensional system on Hilbert space by a distributed time depending control law. The well-posedness of the closed loop for every time is obtained through the use of maximal monotone operator. The hyperexponential stability and ISS property of the closed loop is established using Lyapunov analysis and time scale transformation.

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arXiv2025

Robustness of Delayed Higher Order Sliding Mode Control

In this paper, the feasibility of recently developed higher order delayed sliding mode controllers is addressed. With this aim the robustness against the measurement noise and mismatched perturbations for the systems governed by such controllers is established using ISS implicit Lyapunov-Razumikhin function approach. To illustrate proposed results, a simulation example validating the efficiency of the method is provided.

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arXiv2025

On hyperexponential stabilization of a chain of integrators in continuous and discrete time subject to unmatched perturbations

A recursive time-varying state feedback is presented for a chain of integrators with unmatched perturbations in continuous and discrete time. In continuous time, it is shown that hyperexponential convergence is achieved for the first state variable \(x_1\), while the second state \(x_2\) remains bounded. For the other states, we establish ISS {\cb property} by saturating the growing {\cb control} gain. In discrete time, we use implicit Euler discretization to {\cb preserve} hyperexponential convergence. The main results are demonstrated through several examples of the proposed control laws, illustrating the conditions established for both continuous and discrete-time systems.

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arXiv2025

On Finite- and Fixed-Time Stabilization of Abstract Nonlinear Systems with Well-Posedness Guarantees

This paper addresses the problem of stabilization for infinite-dimensional systems. In particular, we design nonlinear stabilizers for both linear and nonlinear abstract systems. We focus on two classes of systems: the first class comprises linear abstract systems subject to matched perturbations, while the second class encompasses fully nonlinear abstract systems. Our main objective is to synthesize state-feedback controllers that guarantee finite- or fixed-time stability of the closed-loop system, along with possible estimation of the settling time. For the first class, the presence of persistent perturbations introduces significant challenges in the well-posedness analysis, particularly due to the discontinuous nature of the control law. To address this, we employ maximal monotone operator theory to rigorously establish the existence and uniqueness of solutions, extending classical results from continuous abstract systems. For the second class, which includes nonlinearities, we further show that the proposed feedback law ensures fixed-time stability and well-posedness of the closed-loop system, again using maximal monotone theory. The results provide a unified framework for robust, finite /fixed-time stabilization in the presence of discontinuities and nonlinearities in infinite-dimensional settings.

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arXiv2025

Finite-Time Stabilization of a Class of Nonlinear Systems in Hilbert Space

This paper deals with the finite-time stabilization of a class of nonlinear infinite-dimensional systems. First, we consider a bounded matched perturbation in its linear form. It is shown that by using a set-valued function, both the convergence objective (finite-time) and the rejection of perturbations are achieved. Second, we consider a class of nonlinear systems and design a feedback control that ensures the closed-loop system is finite-time stable. All proofs presented in this paper regarding convergence are based on Lyapunov theory. The existence of solutions to the closed-loop system and its well-posedness are established using maximal monotone theory. To illustrate the applicability of the theoretical results, a heat equation is considered as an application of the main results.

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arXiv2025

A Decomposition Method for Finite-Time Stabilization of Bilinear Systems with Applications to Parabolic and Hyperbolic Equations

In this work, we address the problem of finite-time stabilization for a class of bilinear system. We propose a decomposition-based approach in which the nominal system is split into two subsystems, one of which is inherently finite-time stable without control. This allows the stabilization analysis to focus solely on the remaining subsystem. To ensure the well-posedness of the closed-loop system, we establish sufficient conditions on the system and control operators. The stabilization results are then derived using a suitable Lyapunov function and an observation condition. The effectiveness of the proposed approach is demonstrated through examples involving both parabolic and hyperbolic infinite-dimensional systems.

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