ep37 - A. M. Lyapunov: The General Problem of Stability of Motion
Outline 00:00 - Intro 03:12 - Early life 09:07 - St. Petersburg: Stability of Ellipsoidal Bodies 20:13 - Kharkov: The General Problem of the Stability of Motion 34:37 - Back to St. Petersburg: Probability & Academy 46:22 - Tragic end 49:50 - Posthumous recognition 57:49 - Legacy 1:20:39 - OutroLinksA. M. Lyapunov: https://tinyurl.com/3kjuhfnsS. Lyapunov: https://tinyurl.com/mury7p3sSmirnov's bio: https://tinyurl.com/6wpffh3zBissell's essay: https://tinyurl.com/3ds3hubjSechenov: https://tinyurl.com/ypsr37vc Krylov: https://tinyurl.com/44wez8w5Krylov subspace: https://tinyurl.com/bw527uh2Chebyshev: https://tinyurl.com/2n35usfrThe General Problem of Stability of Motion: https://tinyurl.com/mv2jchv2Lyapunov stability: https://tinyurl.com/bb59vcufCentral limit theorem: https://tinyurl.com/3r36p458Van der Pol oscillator: https://tinyurl.com/3s68yyhrMassera’s theorem: https://tinyurl.com/2zjmtvjwLaSalle’s invariance principle: https://tinyurl.com/pjnrp3fhKrasovskii: https://tinyurl.com/junbujswPopov criterion: https://tinyurl.com/uyt3kx5bControl Lyapunov function: https://tinyurl.com/3v7bnusjArtstein–Sontag formula: https://tinyurl.com/3fdebmm3Input-to-state stability: https://tinyurl.com/3nca9nj6Lyapunov equation: https://tinyurl.com/mvakw3ywHybrid systems: https://tinyurl.com/v39up6wkControl barrier function: https://tinyurl.com/sy4p5jjDominance theory: https://tinyurl.com/msvnd4dvSupport the showPodcast infoPodcast website: https://www.incontrolpodcast.com/Apple Podcasts: https://tinyurl.com/5n84j85jSpotify: https://tinyurl.com/4rwztj3cRSS: https://tinyurl.com/yc2fcv4yYoutube: https://tinyurl.com/bdbvhsj6Facebook: https://tinyurl.com/3z24yr43Twitter: https://twitter.com/IncontrolPInstagram: https://tinyurl.com/35cu4kr4Acknowledgments and sponsorsThis episode was supported by the National Centre of Competence in Research on «Dependable, ubiquitous automation» and the IFAC Activity fund. The podcast benefits from the help of an incredibly talented and passionate team. Special thanks to L. Seward, E. Cahard, F. Banis, F. Dörfler, J. Lygeros, ETH studio and mirrorlake . Music was composed by A New Element.
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ep36 - Markos Papageorgiou: Traffic Control — Theory and Practice
Outline00:00 – Intro00:51 – Early steps in research09:55 – Historical overview of traffic control25:20 – What is traffic?34:06 – Road traffic control45:37 – PI control of road junctions58:19 – From macroscopic to microscopic simulations and back1:10:08 – Dynamic traffic assignment1:21:28 – Return to Greece1:28:33 – The optimal control problem1:41:48 – Traffic estimation1:47:34 – The impact of automation and connectivity1:59:20 – Traffic as an artificial fluid2:07:51 – The future of traffic control2:10:48 – Advice to future students2:13:53 – OutroLinkHomepage: https://tinyurl.com/yw7kee97CSS day lecture: https://tinyurl.com/46vua4r7Monograph - Applications of Automatic Control Concepts to Traffic Flow Modeling and Control: https://tinyurl.com/5czax788Review of road traffic control strategies: https://tinyurl.com/48u235pwALINEA: https://tinyurl.com/bdtvny87METANET: https://tinyurl.com/3h9xv48tAIMSUM:https://tinyurl.com/mr2xkryjAMOC: https://tinyurl.com/3v2xysr2HERO: https://tinyurl.com/yzn6vkwhReal-time freeway traffic state estimation based on extended Kalman filter: a general approach: https://tinyurl.com/2ubsh7cyTRAMAN: https://tinyurl.com/ypr65cfaCoordinated and integrated control of motorway networks via non-linear optimal control: https://tinyurl.com/3v2xysr2Motorway traffic flow modelling, estimation and control with vehicle automation and communication systems: https://tinyurl.com/49679hy8From road congestion to vehicle-control enabled artificial traffic fluids: https://tinyurl.com/pk4j8htpSupport the showPodcast infoPodcast website: https://www.incontrolpodcast.com/Apple Podcasts: https://tinyurl.com/5n84j85jSpotify: https://tinyurl.com/4rwztj3cRSS: https://tinyurl.com/yc2fcv4yYoutube: https://tinyurl.com/bdbvhsj6Facebook: https://tinyurl.com/3z24yr43Twitter: https://twitter.com/IncontrolPInstagram: https://tinyurl.com/35cu4kr4Acknowledgments and sponsorsThis episode was supported by the National Centre of Competence in Research on «Dependable, ubiquitous automation» and the IFAC Activity fund. The podcast benefits from the help of an incredibly talented and passionate team. Special thanks to L. Seward, E. Cahard, F. Banis, F. Dörfler, J. Lygeros, ETH studio and mirrorlake . Music was composed by A New Element.
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2:14:26
ep35 - Cosimo Della Santina: From Dexterous Manipulation to Soft Robotics and Embodied Intelligence
Outline 00:00 – Intro 01:19 – Early steps: PhD journey & robotic hands 15:42 – What is a soft robot?23:35 – MIT years & models of soft robots 30:01 – Discretization & underactuation 37:21 – The regulation problem 47:01 – Pros and cons of soft robots 51:42 – The soft inverted pendulum 1:05:27 – Eigenmanifolds 1:15:22 – Physical intelligence 1:26:09 – On machine learning 1:37:49 – Embodied AI & TC on Robot Control 1:44:50 – Advice to future studentsLinks- Cosimo’s website: https://tinyurl.com/mt37597k- Piaggio Center: https://tinyurl.com/muryjw5h- Pisa Robotic Hand: https://tinyurl.com/4ujtec59- Model-Based Dynamic Controller for a Planar Soft Robot: https://tinyurl.com/5a8fv3c8 - Soft Robot definition (Encyclopaedia of Robotics): https://tinyurl.com/3y2jz987 - Isidori’s book: https://tinyurl.com/42254hav- CSM magazine paper: https://tinyurl.com/bd54an6x- Cosserat rod theory: https://tinyurl.com/zu73nadx - Strain function: https://tinyurl.com/y8v63ue2- Zero dynamics: https://tinyurl.com/2ezarn5e- The soft inverted pendulum: https://tinyurl.com/y4bzkkup- Templates and anchors: https://tinyurl.com/2957w6sz- Exciting Efficient Oscillations Through Eigenmanifold Stabilisation: https://tinyurl.com/yc3586y5- When Do Lyapunov Subcentre Manifolds Become Eigenmanifolds?: https://tinyurl.com/5tckw7xe- Passive walker: https://tinyurl.com/yjwwapv5- Strandbeests: https://tinyurl.com/494mfccu - Physical control: https://tinyurl.com/bdddb6ur- Morphological computation: https://tinyurl.com/an6vaahx- The Playful Machine: https://tinyurl.com/5525xys2Support the showPodcast infoPodcast website: https://www.incontrolpodcast.com/Apple Podcasts: https://tinyurl.com/5n84j85jSpotify: https://tinyurl.com/4rwztj3cRSS: https://tinyurl.com/yc2fcv4yYoutube: https://tinyurl.com/bdbvhsj6Facebook: https://tinyurl.com/3z24yr43Twitter: https://twitter.com/IncontrolPInstagram: https://tinyurl.com/35cu4kr4Acknowledgments and sponsorsThis episode was supported by the National Centre of Competence in Research on «Dependable, ubiquitous automation» and the IFAC Activity fund. The podcast benefits from the help of an incredibly talented and passionate team. Special thanks to L. Seward, E. Cahard, F. Banis, F. Dörfler, J. Lygeros, ETH studio and mirrorlake . Music was composed by A New Element.
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1:46:44
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1:46:44
ep34 - inControl guide to ... Controllability & Observability
Outline00:00 - Intro01:06 - The big idea03:42 - Controllability, observability, and ... the space race!14:52 - Kálmán and the state-space paradigm00:00 - The math and intuition: state-space basics, definitions, and duality00:00 - A touch of nonlinearity00:00 - Developments in the field: a chronological tour00:00 - Controllability and observability: quo vaditis?00:00 - OutroLinksKálmán: https://tinyurl.com/bdzj7mtrControllability: https://tinyurl.com/28s5zxpnObservability: https://tinyurl.com/yjxncxdnPaper - "Contributions to the theory of optimal control": https://tinyurl.com/9wwf8pvhPaper - "Discovery and Invention": https://tinyurl.com/ryfn463nKálmán's speech - Kyoto Prize : https://tinyurl.com/2ahrjdahPaper - Controllability of complex networks: https://tinyurl.com/3zk99n4sSupport the showPodcast infoPodcast website: https://www.incontrolpodcast.com/Apple Podcasts: https://tinyurl.com/5n84j85jSpotify: https://tinyurl.com/4rwztj3cRSS: https://tinyurl.com/yc2fcv4yYoutube: https://tinyurl.com/bdbvhsj6Facebook: https://tinyurl.com/3z24yr43Twitter: https://twitter.com/IncontrolPInstagram: https://tinyurl.com/35cu4kr4Acknowledgments and sponsorsThis episode was supported by the National Centre of Competence in Research on «Dependable, ubiquitous automation» and the IFAC Activity fund. The podcast benefits from the help of an incredibly talented and passionate team. Special thanks to L. Seward, E. Cahard, F. Banis, F. Dörfler, J. Lygeros, ETH studio and mirrorlake . Music was composed by A New Element.
Outline00:00 - Intro00:42 - “Research should be fun”02:02 - Early steps in research09:00 - Book writing and meeting C. Desoer18:33 - Control synthesis via the factorization approach25:46 - The graph metric 29:27 - Robotics and CAIR36:00 - Randomized algorithms40:41 - On learning44:05 - Neural networks48:40 - Tata, hidden Markov models, and large deviations theory55:48 - Picking problems and role of luck58:07 - Compressed sensing and non-convex optimization01:02:17 - Interplay between control and machine learning01:09:10 - Advice to future students01:13:29 - Future of controlLinksSagar’s website: https://tinyurl.com/4hwruajsHilbert: https://tinyurl.com/ykpdh929Feedback Systems: https://tinyurl.com/2k3jsdatHow to Write Mathematics: https://tinyurl.com/35794bv9Nonlinear systems: https://tinyurl.com/2fdtnjcmC. Desoer: https://tinyurl.com/svhknrenControl Systems Synthesis — A Factorization Approach: https://tinyurl.com/59wdc4svAryabhata: https://tinyurl.com/43x6hfhpA Brief History of the Graph Topology: https://tinyurl.com/49uftzdkRobot Dynamics and Control: https://tinyurl.com/5b4cmt7mCAIR: https://tinyurl.com/rajdtxaxRandomized algorithms for robust controller synthesis using statistical learning theory: https://tinyurl.com/wanpyeucR. Tempo: https://tinyurl.com/jkufdwarVC dimension: https://tinyurl.com/mvwk8afmLearning and Generalisation: https://tinyurl.com/2s3mzh8hAre Analog Neural Networks Better Than Binary Neural Networks? https://tinyurl.com/3fnk27xcHidden Markov Processes: https://tinyurl.com/t5frrvfzAn Introduction to Compressed Sensing: https://tinyurl.com/fc6a8eerSupport the showPodcast infoPodcast website: https://www.incontrolpodcast.com/Apple Podcasts: https://tinyurl.com/5n84j85jSpotify: https://tinyurl.com/4rwztj3cRSS: https://tinyurl.com/yc2fcv4yYoutube: https://tinyurl.com/bdbvhsj6Facebook: https://tinyurl.com/3z24yr43Twitter: https://twitter.com/IncontrolPInstagram: https://tinyurl.com/35cu4kr4Acknowledgments and sponsorsThis episode was supported by the National Centre of Competence in Research on «Dependable, ubiquitous automation» and the IFAC Activity fund. The podcast benefits from the help of an incredibly talented and passionate team. Special thanks to L. Seward, E. Cahard, F. Banis, F. Dörfler, J. Lygeros, ETH studio and mirrorlake . Music was composed by A New Element.
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