arXiv subjects

Sepehr Moalemi

Publications and source records attributed to Sepehr Moalemi.

5 recordsLinked to original sources

arXiv2026

Performance-Guaranteed Reference Tracking With Power Directionality Constraints: Application to Controlled Stochastic Watersheds

Modern stormwater infrastructure faces increased demands that require a corresponding increase in capacity. Traditionally, these demands have been met by constructing new infrastructure assets, which is a costly endeavor. More recently, many system operators have achieved great success in employing feedback control techniques to improve system performance. However, the resulting closed-loop system exhibits power directionality constraints that introduce nonlinear constraints in feedback synthesis. In this work, we develop a stochastic control synthesis procedure with provable performance bounds on mean-square reference tracking for a general class of problems in which power directionality constraints arise. The proposed method is then applied to a flood mitigation example using a numerical model of a real-world smart water system. The key result is an extension of the performance-guaranteed control (PGC) framework, which was originally designed for disturbance rejection, to accommodate reference tracking control objectives.

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arXiv2026

A Passivity-Based Analysis of First-Order Momentum-Based Methods

This paper presents a discrete-time passivity-based analysis of first-order momentum-based methods for a class of functions whose gradient has lower and upper sector bounds of $0$ and $L$, respectively. Through a loop transformation, it is shown that momentum-based methods can be represented as a passive controller in negative feedback with an output strictly passive (OSP) system. The weak passivity theorem is then used to derive explicit hyperparameter conditions under which the shifted gradient asymptotically vanishes. Under an additional assumption that requires the existence of a unique stationary point and excludes arbitrarily small gradients far from that point, convergence of the iterates to the global minimizer is established.

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arXiv2024

Input-Output Stability of Gradient Descent: A Discrete-Time Passivity-Based Approach

This paper presents a discrete-time passivity-based analysis of the gradient descent method for a class of functions with sector-bounded gradients. Using a loop transformation, it is shown that the gradient descent method can be interpreted as a passive controller in negative feedback with a very strictly passive system. The passivity theorem is then used to guarantee input-output stability, as well as the global convergence, of the gradient descent method. Furthermore, provided that the lower and upper sector bounds are not equal, the input-output stability of the gradient descent method is guaranteed using the weak passivity theorem for a larger choice of step size. Finally, to demonstrate the utility of this passivity-based analysis, a new variation of the gradient descent method with variable step size is proposed by gain-scheduling the input and output of the gradient.

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arXiv2024

Matrix-Scheduling of QSR-Dissipative Systems

This paper considers gain-scheduling of QSR-dissipative subsystems using scheduling matrices. The corresponding QSR-dissipative properties of the overall matrix-gain-scheduled system, which depends on the QSR properties of the subsystems scheduled, are explicitly derived. The use of scheduling matrices is a generalization of the scalar scheduling signals used in the literature, and allows for greater design freedom when scheduling systems, such as in the case of gain-scheduled control. Furthermore, this work extends the existing gain-scheduling results to a broader class of QSR-dissipative systems. The matrix-scheduling of important special cases, such as passive, input strictly passive, output strictly passive, finite L2 gain, very strictly passive, and conic systems are presented. The proposed gain-scheduling architecture is used in the context of controlling a planar three-link robot subject to model uncertainty. A novel control synthesis technique is used to design QSR-dissipative subcontrollers that are gain-scheduled using scheduling matrices. Numerical simulation results highlight the greater design freedom of scheduling matrices, leading to improved performance.

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arXiv2024

Passivity-Based Gain-Scheduled Control with Scheduling Matrices

This paper considers gain-scheduling of very strictly passive (VSP) subcontrollers using scheduling matrices. The use of scheduling matrices, over scalar scheduling signals, realizes greater design freedom, which in turn can improve closed-loop performance. The form and properties of the scheduling matrices such that the overall gain-scheduled controller is VSP are explicitly discussed. The proposed gain-scheduled VSP controller is used to control a rigid two-link robot subject to model uncertainty where robust input-output stability is assured via the passivity theorem. Numerical simulation results highlight the greater design freedom, resulting in improved performance, when scheduling matrices are used over scalar scheduled signals.

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