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Robert Vrabel

Publications and source records attributed to Robert Vrabel.

At least 19 recordsLinked to original sources

Spectral Exactness and Quantitative Instability Approximation in the Euler-Zeitlin Model for Zonal Equilibria

Building on finite-time convergence results for geometric matrix hydrodynamics, we establish global spectral exactness for Zeitlin's approximation of the two-dimensional Euler equation on the sphere linearized about polynomial zonal vorticities. By separating each azimuthal block into a skew-adjoint transport operator and a compact perturbation, we obtain a dimension-uniform estimate $\|K_N-K\|=O(N^{-1})$ and the sharper fixed-block estimate $\|K_{N,m}-K_m\|=O(N^{-2})$. These bounds, together with strong-resolvent convergence of transport, yield exact approximation of the isolated spectrum off the imaginary axis: algebraic multiplicities are preserved, Riesz projections converge in norm, and spurious off-axis spectral limits are excluded. Every algebraically simple off-axis eigenvalue has an $O(N^{-2})$ approximation error. For eigenvalues of higher multiplicity we establish second-order convergence of arithmetic means of eigenvalue clusters and $O(N^{-2/α})$ individual eigenvalue bounds, where $α$ is the maximal Jordan-block size. For any prescribed positive growth margin, the numbers of unstable and stable eigenvalues beyond that margin are eventually correct. The argument combines an exact matrix-harmonic coordinate recurrence, uniform bounds for high azimuthal modes, and resolvent factorizations involving compact operators. An explicit degree-three zonal equilibrium has a rigorously enclosed simple unstable eigenvalue, providing a concrete instance of the quantitative theory.

math.AP↗

Multirate Data-Driven Predictive Control: Rank Obstructions, Identifiability, and Noise Conditioning

We develop rank, identifiability, and noise-conditioning results for compact input--output predictors in multirate data-driven predictive control. The inverse of a square zero-input response matrix used in an existing compact-lifting construction is shown to be undefined under its observability and minimal-polynomial assumptions. We derive exact replacements using rank-complete data, characterize all predictor extensions, and establish the minimum-norm and minimax Euclidean noise properties of the canonical Moore--Penrose extension. A joint predictor is identified directly from mixed experiments with arbitrary initial states. Deterministic perturbation bounds quantify reconstruction errors through informative singular-value margins, while a positive-definite reduced weighting preserves the nominal quadratic cost. Sampling-rate observability and event-triggering analyses identify additional conditions needed for reconstruction and stability guarantees.

math.OC↗

Ambient Chain-Relation Reduction in Contracting Controlled Skew-Product Semiflows

The qualitative dynamics of nonautonomous differential equations is often studied through cocycles and skew-product semiflows over a driving base. We develop a chain-recurrence reduction principle for systems admitting an equivariant attracting section and uniform asymptotic tracking. The abstract theorem determines the complete chain-attainability relation in the ambient phase space: chains may start off the attracting section, but every attainable target lies on it and is selected solely by the factor semiflow. Applied to contracting controlled skew-product semiflows, this gives exact descriptions of the chain recurrent set, chain components, Conley order, compact strictly invariant sets, attractors, basins, and dual repellers. A weighted-supremum transverse gauge yields a complete Lyapunov function for the full semiflow while preserving the recurrent values of the base. The differential hypotheses are verified through subadditive fiber-derivative growth and averaged moving-metric logarithmic norms, allowing transient expansion and non-unique ergodicity. Quantitative persistence is established for finite-window maps and smooth vector-field perturbations. The results provide a unified framework for chain recurrence, Lyapunov structure, and attractor--repeller geometry in contracting nonautonomous dynamics.

math.DS↗

Geometric Stability of Dynamical Systems with Self-Generated State-Space Memory

We develop a geometric stability framework for dynamical systems coupled to memory fields generated by their own state trajectories. Temporal age and state-space displacement enter a nonlinear hereditary force admitting an exact, trajectory-dependent velocity representation. A common velocity-history phase space contains both resting and uniformly translating solutions. We establish global velocity arrest under a uniform geometric memory-gain bound and obtain exact translating-speed balance laws from the full radial imprint. The response slope yields a positive longitudinal exponent on rising-speed branches, while a complementary contraction criterion gives local exponential attraction to selected descending branches in the scalar velocity dynamics, in fading-memory topology. Our principal result is a constructive geometric non-identifiability theorem: two systems with identical nonlinear force operators on an open neighborhood of rest can exhibit sharply different complete-motion behavior at the same subcritical gain. In the first, every admissible trajectory with bounded velocity prehistory comes to rest exponentially; in the second, locally attracting rest coexists with a locally attracting translating branch and an additional spectrally unstable translating branch. The infinite-memory case exhibits exponentially flat force differences, with all finite-order equilibrium derivatives agreeing despite the possibility of distinct global translating families. The framework also yields classical Volterra kernels and distributed-derivative transfer functions by linearization.

math.DS↗

Piecewise Linear Approximation and PID Control Optimization for Nonlinear Systems

This paper investigates the control of nonlinear systems using a piecewise linear approximation framework. The proposed approach combines a PID controller with locally linearized models obtained by partitioning the nonlinear function into subregions over a compact domain. This approximation yields an analytically tractable representation of the system dynamics, enabling the application of transfer-based and frequency-domain analysis tools that are not directly applicable to nonlinear systems. As the number of linear segments increases, the approximated system progressively approaches the behavior of the original nonlinear system, allowing for a meaningful frequency-domain interpretation of the dynamics. The PID controller parameters are optimized using the Particle Swarm Optimization method with performance criteria based on ITAE (Integral of Time-weighted Absolute Error) and ISO (Integral of Squared Overshoot). Numerical simulations confirm the effectiveness of the proposed method, demonstrating that controller parameters obtained from the piecewise linear model ensure stable and accurate control when applied to the original nonlinear system, while maintaining a balance between computational effort and approximation accuracy.

math.OC↗

Model-Free Quantum Stabilization via Finite-Difference Lyapunov Control

We develop a model-free framework for stabilizing quantum states using only empirical finite-difference evaluations of a measurement-derived Lyapunov observable. The controller requires no knowledge of the Hamiltonian, dissipative structure, or generator of the dynamics, and relies solely on discrete measurement data. The approach combines three key elements: sign-based Lyapunov descent, adaptive gain amplification, and a finite-difference analogue of LaSalle's invariance principle. We provide rigorous conditions under which these mechanisms guarantee asymptotic stabilization along the sampling instants in the drift-free case and practical input-to-state stability (ISS) in the presence of unknown drift and noise. The resulting feedback law is simple, derivative-free, and experimentally feasible. A qubit example illustrates the complete closed-loop scheme and the predicted ISS-type behavior. Although demonstrated on a single qubit, the theory applies to arbitrary finite-dimensional quantum systems and offers a foundation for further developments in stochastic, subspace, and multi-qudit model-free quantum control.

quant-ph↗

Determinant Dynamics under Low-Rank Perturbations: A Unified Framework for Singular Systems

This paper develops a unified analytical framework for determinant identities under finite-rank perturbations of square matrices that remains valid without invertibility assumptions. In contrast to classical inverse-based formulations, the approach is based on an adjugate-driven additive representation, which extends naturally to singular matrices and yields explicit, non-asymptotic formulas. Building on this representation, we derive recursive and multiplicative expressions describing the evolution of determinant and log-determinant quantities under successive rank-one updates. These results reveal a structural interpretation in which determinant-based quantities evolve as cumulative measures of independent directions, providing a precise decomposition of incremental contributions. To address the singular case, we develop a systematic extension based on the Drazin inverse and the pseudodeterminant, leading to closed-form identities that isolate the contribution of the nonzero spectrum. In particular, we obtain a generalized determinant formula that can be viewed as a singular counterpart of the matrix determinant lemma. The spectral impact of low-rank perturbations is analyzed, yielding explicit conditions governing eigenvalue shifts and stability preservation. The proposed framework establishes a direct analytical link between matrix perturbation theory and system-theoretic concepts. In particular, we show that the pseudodeterminant of controllability Gramians admits a multiplicative decomposition that explicitly quantifies the incremental expansion of the reachable subspace under successive inputs. This leads to a unified interpretation of information accumulation, uncertainty reduction, and reachability in both full-rank and rank-deficient linear systems.

math.OC↗

A novel criterion for global incremental stability of dynamical systems

In this paper, we establish the sufficient conditions guaranteeing global uniform exponential stability, or at least global asymptotic stability, of all solutions for nonlinear dynamical systems, also known as global incremental stability (GIS) of the systems. We provide here an alternative approach for assessment of GIS in terms of logarithmic norm under which the stability becomes a topological notion and also generalize both horizontally and vertically the well-known Demidovich criterion for GIS of dynamical systems. Convergence of all solutions to the origin x=0, which is not assumed to be an equilibrium state of system, is also analyzed. Theory is illustrated by a simulation experiment.

math.DS↗

Robust adaptive state-feedback control of linear time-varying systems under both potentially unbounded system's modeling uncertainty and external disturbance

The conceptually new approach based on the logarithmic norm to design of robust adaptive state-feedback controller for linear time-varying (LTV) systems under system's modeling uncertainty and nonlinear external disturbance is proposed. This controller, consisting of two independent parts - adaptive and robust ones - globally asymptotically stabilizes every LTV system regardless how large the disturbance is.

math.OC↗

Criterion for robustness of global asymptotic stability to perturbations of linear time-varying systems

In this brief note, we establish a novel criterion for robustness of global asymptotic stability of zero solution of LTV system $\dot x=A(t)x$ in the presence of possibly unbounded perturbations (external disturbances). To prove the result, logarithmic norm will be used under which the stability becomes a topological notion depending on the chosen vector norm in the state-space $\mathbb{R}^n.$

math.DS↗

Asymptotic stabilization of a system of coupled $n$th--order differential equations with potentially unbounded high-frequency oscillating perturbations

This paper deals with an analysis and design of robust, state-feedback control law uniform-asymptotically stabilizing at origin the system consisting of coupled $n$th--order ordinary differential equations in the presence of a non-vanishing at $x=0$ or even unbounded on the time interval $[0,\infty)$ time-varying high-frequency oscillating perturbation $w(t,x).$ The obtained results generalize and extend some known and now classical results in the control theory for a wider class of perturbations. Moreover, as is shown in the paper, there is no room for further generalization for $w$ which is time-dependent only, $w=w(t).$

math.OC↗

A note on uniform exponential stability of linear periodic time-varying systems

In this paper we derive new criterion for uniform stability assessment of the linear periodic time-varying systems $\dot x=A(t)x,$ $A(t+T)=A(t).$ As a corollary, the lower and upper bounds for the Floquet characteristic exponents are established. The approach is based on the use of logarithmic norm of the system matrix $A(t).$ Finally we analyze the robustness of the stability property under external disturbance.

math.DS↗

Design of the state feedback-based feed-forward controller asymptotically stabilizing the overhead crane at the desired end position

The problem of feed-forward control of overhead crane system is discussed. By combining the Kalman's controllability theory and Hartman-Grobman theorem from dynamical system theory, a linear, continuous state feedback-based feed-forward controller that stabilizes the crane system at the desired end position of payload is designed. The efficacy of proposed controller is demonstrated by comparing the simulation experiment results for overhead crane with/without time-varying length of hoisting rope.

math.OC↗

On the local asymptotic stabilization of the nonlinear systems with small time-varying perturbations by state-feedback control

In this paper, we are interested in the relation between the solutions of the control system $\dot x=f(x,u)$ and the solutions of its (potentially unknown) perturbation $\dot x=f(x,u)+w(x,t).$ Under the assumption that the linear part of the unperturbed system at the point $(0,0)$ is controllable and that disturbance $w(x,t)$ is asymptotically sufficiently small, there exists a state-feedback controller of the form $u=-Kx$ such that the perturbed system preserves the local asymptotic stability of the zero solution of unperturbed system. The main result of this paper gives the sufficient conditions, more specifically, the relations between the important parameters of the system, to ensure this property and at the same time provides the method for calculating the lower bound of region of attraction. Moreover, we obtain a nontrivial extension of the classical result of H. K. Khalil regarding asymptotic behavior of the (uncontrolled) perturbed systems whose nominal part is exponentially asymptotically stable at the origin $x=0.$

math.OC↗

Feedback stabilization of double pendulum: Application to the crane systems with time-varying rope length

In the present paper we focus our attention on the design of the feedback-based feed-forward controller asymptotically stabilizing the double-pendulum-type crane system with the time-varying rope length in the desired end position of payload (the origin of the coordinate system). In principle, we will consider two cases, in the first case, the sway angle of payload is uncontrolled and the second case, when the sway angle of payload is controlled by an external force. Mathematical modelling in the framework of Lagrange formalism and numerical simulation in the Matlab environment indicate the substantial reduction of the transportation time to the desired end position. Another principal novelty of this paper lies in deriving and analysis of a complete mathematical model without approximating the nonlinear terms and without neglecting some structural parameters of systems for the reasons described in the Remark 4.2 and Remark 5.1.

math.OC↗

Local null controllability of the control-affine nonlinear systems with time-varying disturbances. Direct calculation of the null controllable region

The problem of local null controllability for the control-affine nonlinear systems $\dot x(t)=f(x(t))+Bu(t)+w(t),$ $t\in[0,T]$ is considered in this paper. The principal requirements on the system are that the LTI pair $\left((\partial f/\partial x)(0), B\right)$ is controllable and the disturbance is limited by the constraint $|f(0)+w(t)|\leq M_d\left(1-\frac{t}{T}\right)^η,$ $M_d\geq0$ and $η>0.$ These properties together with one technical assumption yield a complete answer to the problem of deciding when the null controllable region have a nonempty interior. The criteria obtained involve purely algebraic manipulations of vector field $f,$ input matrix $B$ and bound on the disturbance $w(t).$ To prove the main result we have derived a new Gronwall-type inequality allowing the fine estimates of the closed-loop solutions. The theory is illustrated and the efficacy of proposed controller is demonstrated by the examples where the null controllable region is explicitly calculated. Finally we established the sufficient conditions to be the system under consideration (with $w(t)\equiv 0$) globally null controllable.

math.OC↗