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inControl

Alberto Padoan

The first podcast on control theory. 
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  • Avg 1 hr 32 min
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  • August 17 · 1 hr 42 min

    ep47 - Tore Hägglund and José Luis Guzman: the art of PID control

    Outline 00:00 - Intro 08:35 - What is PID control? 12:15 - The history: Minorsky, 1922, and steering ships 21:00 - The lambda method, IMC, and analytical tuning 28:45 - Set-point weighting and two degrees of freedom 32:50 - Automatic tuning and the relay feedback problem 40:35 - The Lund school and Karl Johan Åström 50:20 - PID is nearly optimal 57:30 - PID tuning: the elephant in the room 1:01:35 - Open problems and the one-third rule 1:05:45 - Feedforward: the unsung hero 1:15:00 - PID as a building block in large-scale control 1:21:40 - Teaching, outsourcing, and lost knowledge 1:28:15 - PID in the AI age 1:32:25 - Microalgae and sustainable process control 1:40:05 - Advice for young researchers and the future of PID Links Hägglund & Guzmán, "Give us PID controllers and we can control the world": https://doi.org/10.1016/j.ifacol.2024.08.018 Minorsky, "Directional Stability of Automatically Steered Bodies": https://doi.org/10.1111/j.1559-3584.1922.tb04958.x Hazen, "Theory of Servo-Mechanisms": https://doi.org/10.1016/S0016-0032(34)90254-4 Ziegler & Nichols, "Optimum Settings for Automatic Controllers": https://doi.org/10.1115/1.4019264 Dahlin, "Designing and Tuning Digital Controllers" (the lambda method): https://skoge.folk.ntnu.no/puublications_others/1968_Dahlin%20-%20Designing%20and%20tuning%20digital%20controllers.pdf Rivera, Morari & Skogestad, "Internal Model Control: PID Controller Design": https://skoge.folk.ntnu.no/publications/1986/Rivera86/Rivera86.pdf Åström & Hägglund, "Automatic Tuning of Simple Regulators": https://cse.lab.imtlucca.it/~bemporad/teaching/controllodigitale/pdf/Astrom-ACC89.pdf Hägglund & Åström, "Industrial Adaptive Controllers Based on Frequency Response Techniques": https://doi.org/10.1016/0005-1098(91)90052-4 Åström & Hägglund, "The Future of PID Control": https://doi.org/10.1016/S0967-0661(01)00062-4 Hägglund, "A Unified Discussion on Signal Filtering in PID Control": https://doi.org/10.1016/j.conengprac.2013.03.012 Theorin & Hägglund, "Derivative Backoff: The Other Saturation Problem": https://doi.org/10.1016/j.jprocont.2015.06.008 Hägglund, mid-ranging control (2021): https://skoge.folk.ntnu.no/puublications_others/apc-papers/midranging-control-vpc-hagglund-2020.pdf Guzmán & Hägglund, "Simple Tuning Rules for Feedforward Compensators": https://doi.org/10.1016/j.jprocont.2010.10.007 Guzmán, Hägglund, Veronesi & Visioli, "Performance Indices for Feedforward Control": https://doi.org/10.1016/j.jprocont.2014.12.004 Del Hoyo, Hägglund, Guzmán & Moreno: https://doi.org/10.1016/j.conengprac.2023.105636 Pawlowski, Guzmán, Normey-Rico & Berenguel, "Improving Feedforward Disturbance Compensation in GPC": Improving feedforward disturbance compensation capabilities in Generalized Predictive Control Guzmán & Hägglund, "Feedforward Control: Analysis, Design, Tuning Rules, and Implementation": https://books.google.it/books/about/Feedforward_Control.html?id=f_C00AEACAAJ Normey-Rico & Guzmán, "Unified PID Tuning Approach for Dead-Time Processes": https://doi.org/10.3182/20120328-3-IT-3014.00006 Soltesz & Cervin, "When Is PID a Good Choice?": https://doi.org/10.1016/j.ifacol.2018.06.074 Grimholt, PID optimality: https://skoge.folk.ntnu.no/publications/thesis/2018_grimholt/phd-thesis-grimholt-2018.pdf Hägglund & Guzmán, "Development of Basic Process Control Structures": https://doi.org/10.1016/j.ifacol.2018.06.202 Skogestad, "Advanced Control Using Decomposition and Simple Elements": https://doi.org/10.1016/j.arcontrol.2023.100903 Guzmán, Hägglund et al., "Understanding PID Design Through Interactive Tools": https://doi.org/10.3182/20140824-6-ZA-1003.01328 ISA-TR5.9-2023, "Proportional-Integral-Derivative Control Algorithms and Performance": https://www.isa.org/products/isa-tr5-9-2023-proportional-integral-derivative-pi Vilanova & Visioli, "PID Control in the Third Millennium": https://books.google.it/books/about/PID_Controllers.html?id=FsyhngEACAAJ Brian Douglas — control engineering education videos: https://engineeringmedia.com/videos A Practical Guide to PID Controller Implementation: https://arxiv.org/abs/2604.15918 Support the show Podcast info Podcast website: https://www.incontrolpodcast.com/ Apple Podcasts: https://tinyurl.com/5n84j85j Spotify: https://tinyurl.com/4rwztj3c RSS: https://tinyurl.com/yc2fcv4y Youtube: https://tinyurl.com/bdbvhsj6 Facebook: https://tinyurl.com/3z24yr43 Twitter: https://twitter.com/IncontrolP Instagram: https://tinyurl.com/35cu4kr4 Acknowledgments and sponsors This 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.

  • S4 · E8
    July 15 · 1 hr

    ep46 - The fall of LTCM: Bachelier, Merton, and Black–Scholes ... when stochastic control met Wall Street

    Outline 00:00 - Intro 02:25 - Bachelier and the Théorie de la Spéculation 03:05 - Stochastic processes, Brownian motion, and the heat equation 09:45 - Poincaré's verdict, obscurity, and rediscovery 13:50 - Robert C. Merton: from hot rods to MIT 19:25 - Dynamic programming and Itô calculus 24:35 - Merton's portfolio problem as stochastic optimal control 31:10 - Options, dynamic hedging, and the Black–Scholes–Merton equation 39:50 - LTCM: the dream team 46:30 - August 1998: the crash 49:00 - Fat tails and the ten-sigma defense 51:40 - The ghosts of 2008 and echoes in the AI boom 54:00 - Robustness embraced at last: Hansen and Sargent 57:45 - Outro Links Bachelier's thesis, "Théorie de la Spéculation" (1900): https://www.numdam.org/item/10.24033/asens.476.pdf Courtault et al., "Louis Bachelier on the Centenary of Théorie de la Spéculation": https://doi.org/10.1111/1467-9965.00098 Merton's Nobel autobiography: https://www.nobelprize.org/prizes/economic-sciences/1997/merton/biographical/ Merton's MIT "Infinite History" interview: https://infinite.mit.edu/video/robert-c-merton-phd-%E2%80%9970/ Mandelbrot, "The Variation of Certain Speculative Prices": https://doi.org/10.1086/294632 Merton, "Optimum Consumption and Portfolio Rules in a Continuous-Time Model": https://doi.org/10.1016/0022-0531(71)90038-X Moehle & Boyd, "A Certainty Equivalent Merton Problem": https://doi.org/10.1109/LCSYS.2021.3111534 Brigo & Mercurio, "Interest Rate Models: Theory and Practice": https://doi.org/10.1007/978-3-540-34604-3 Armstrong, Brigo & Hanzon, "Optimal Projection Filters with Information Geometry": https://doi.org/10.1007/s41884-023-00108-x Hu & Zhou, "Constrained Stochastic LQ Control with Random Coefficients, and Application to Portfolio Selection": https://doi.org/10.1137/S0363012904441969 Black & Scholes, "The Pricing of Options and Corporate Liabilities": https://doi.org/10.1086/260062 Merton, "Theory of Rational Option Pricing": https://doi.org/10.2307/3003143 Merton, "Option Pricing When Underlying Stock Returns Are Discontinuous": https://doi.org/10.1016/0304-405X(76)90022-2 Scholes' Nobel lecture: https://www.nobelprize.org/prizes/economic-sciences/1997/scholes/lecture/ Merton's Nobel lecture: https://www.nobelprize.org/prizes/economic-sciences/1997/merton/lecture/ Markowitz, "Portfolio Selection": https://doi.org/10.2307/2975974 Michael Lewis, "Liar's Poker": https://en.wikipedia.org/wiki/Liar%27s_Poker Edwards, "Hedge Funds and the Collapse of Long-Term Capital Management": https://doi.org/10.1257/jep.13.2.189 Lowenstein, "When Genius Failed": https://en.wikipedia.org/wiki/When_Genius_Failed Taleb, "Statistical Consequences of Fat Tails": https://arxiv.org/abs/2001.10488 Taleb & West, "Working with Convex Responses: Antifragility from Finance to Oncology": https://doi.org/10.3390/e25020343 Taleb, "The Black Swan": https://en.wikipedia.org/wiki/The_Black_Swan:_The_Impact_of_the_Highly_Improbable Taleb, "Fooled by Randomness": https://en.wikipedia.org/wiki/Fooled_by_Randomness Man Group, "The AI Bubble: Hidden Risks and Opportunities": https://www.man.com/insights/the-ai-bubble Sen. Warren's remarks at the Vanderbilt Policy Accelerator: https://www.banking.senate.gov/newsroom/minority/warren-remarks-at-vanderbilt-policy-accelerator-event-highlighting-economic-and-financial-risks-of-potential-ai-crash Meng & Chen, "Artificial Intelligence and Systemic Risk": https://arxiv.org/abs/2604.03272 Doyle, "Guaranteed Margins for LQG Regulators": https://doi.org/10.1109/TAC.1978.1101791 Safonov & Athans, "Gain and Phase Margin for Multiloop LQG Regulators": https://doi.org/10.1109/TAC.1977.1101470 Hansen & Sargent, "Robust Control and Model Uncertainty": https://doi.org/10.1257/aer.91.2.60 Hansen & Sargent, "Wanting Robustness in Macroeconomics": http://www.tomsargent.com/research/wanting.pdf Support the show Podcast info Podcast website: https://www.incontrolpodcast.com/ Apple Podcasts: https://tinyurl.com/5n84j85j Spotify: https://tinyurl.com/4rwztj3c RSS: https://tinyurl.com/yc2fcv4y Youtube: https://tinyurl.com/bdbvhsj6 Facebook: https://tinyurl.com/3z24yr43 Twitter: https://twitter.com/IncontrolP Instagram: https://tinyurl.com/35cu4kr4 Acknowledgments and sponsors This 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.

  • S4 · E7
    June 15 · 1 hr 32 min

    ep45 - Peter Caines: from stochastic and adaptive control to mean field games, graphons, and beyond!

    Outline 00:00 - Intro 02:10 - London in the 1960s 12:40 - From Oxford to Imperial College: David Mayne and the discrete-time Riccati equation 18:05 - The "global tour": Montenegro roads, hitch-hiking to Istanbul, and the San Francisco waterfront 22:30 - Feedback and causality between stochastic processes 31:15 - The system identification years 40:50 - Model complexity, the bias–variance trade-off, and concentration inequalities 52:05 - Adaptive control: living through a golden era 1:00:30 - McGill, George Zames, and CIFAR's "institute without walls," and COCOLOG 1:09:45 - Mean field games: the China connection, the cell-phone problem, and Nash Certainty Equivalence 1:20:15 - The Lasry–Lions simultaneous discovery 1:24:40 - From graphons to graphexons: sparse networks, Laplexions, and geometry 1:31:00 - Linear Stochastic Systems, Popper, and falsifiability 1:35:20 - Advice to young researchers 1:38:00 - Outro Links Peter Caines' website: https://www.mcgill.ca/cim/caines Linear Stochastic Systems: https://epubs.siam.org/doi/book/10.1137/1.9781611974713 On the discrete-time matrix Riccati equation of optimal control: https://doi.org/10.1080/00207177008931892 Feedback between stationary stochastic processes: https://doi.org/10.1109/TAC.1975.1101008 Prediction-error identification methods for stationary stochastic processes: https://doi.org/10.1109/TAC.1976.1101304 Asymptotic normality of prediction-error estimators for approximate system models: https://doi.org/10.1109/CDC.1978.268066 Discrete-time multivariable adaptive control (Axelby Award): https://doi.org/10.1109/TAC.1980.1102363 Discrete-time stochastic adaptive control: https://doi.org/10.1137/0319052 25 seminal control papers of the 20th century: https://books.google.ca/books/about/Control_Theory.html?id=eVhGAAAAYAAJ COCOLOG: A conditional observer and controller logic for finite machines: https://epubs.siam.org/doi/10.1137/S0363012992226636 Hierarchical hybrid control systems: https://doi.org/10.1109/9.664153 On the hybrid optimal control problem: https://ieeexplore.ieee.org/document/4303244 Bode Lecture: https://ieeecss.org/presentation/bode-lecture/mean-field-stochastic-control The cell-phone problem - Large population stochastic wireless power control: https://doi.org/10.1109/CDC.2003.1272542 Large-population stochastic dynamic games - McKean-Vlasov and the Nash Certainty Equivalence principle: https://projecteuclid.org/journals/communications-in-information-and-systems/volume-6/issue-3/Large-population-stochastic-dynamic-games--closed-loop-McKean-Vlasov/cis/1183728987.full Large-population cost-coupled LQG with nonuniform agents and decentralized ε-Nash equilibria: https://doi.org/10.1109/TAC.2007.904450 Social optima in mean field LQG control: https://doi.org/10.1109/TAC.2012.2183439 ε-Nash mean field games with major and minor agents: https://arxiv.org/abs/1209.5684 Graphon mean field games and their equations: https://doi.org/10.1137/20M136373X Mean field games on large sparse network limits - Laplexion dynamics on graphexons: https://www.sciencedirect.com/science/article/pii/S240589632500388X Murray Wonham oral history: https://www.youtube.com/watch?v=8IBZyRo0vDk Support the show Podcast info Podcast website: https://www.incontrolpodcast.com/ Apple Podcasts: https://tinyurl.com/5n84j85j Spotify: https://tinyurl.com/4rwztj3c RSS: https://tinyurl.com/yc2fcv4y Youtube: https://tinyurl.com/bdbvhsj6 Facebook: https://tinyurl.com/3z24yr43 Twitter: https://twitter.com/IncontrolP Instagram: https://tinyurl.com/35cu4kr4 Acknowledgments and sponsors This 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.

  • S4 · E6
    May 15 · 1 hr 29 min

    ep44 - Mario di Bernardo: From Circuits to Cells and Swarms — Control meets Complexity

    Outline 00:00 - Intro 01:30 - Origin story: Naples, electrical engineering, and the fascination with chaos 08:00 - What is chaos? 15:00 - DC-DC converters and discontinuity-induced bifurcations 22:00 - Piecewise-smooth dynamical systems 26:55 - Complex networks, synchronization, and pinning control 40:30- Synthetic biology: from gene regulatory networks to multicellular control 58:00 - COVID-19: a network epidemic model for Italy 1:02:00 - Multiscale control, statistical mechanics, and physics-informed control 1:19:10 - State of the field and the IEEE CSS 1:26:35 - Advice to young researchers 1:29:00 - Outro Links Mario's website: https://sites.google.com/site/dibernardogroup/home Scuola Superiore Meridionale: https://www.ssm.unina.it/ Chaos by James Gleick: https://en.wikipedia.org/wiki/Chaos:_Making_a_New_Science Control of chaos:https://en.wikipedia.org/wiki/Control_of_chaos Erasmus programme: https://en.wikipedia.org/wiki/Erasmus_Programme An Adaptive Approach to the Control and Synchronization of Continuous-time Chaotic Systems: https://doi.org/10.1142/S0218127496000254 Piecewise-smooth Dynamical Systems: Theory and Applications: https://doi.org/10.1007/978-1-84628-708-4 Bifurcations in nonsmooth dynamical systems: https://doi.org/10.1137/050625060 Controllability of complex networks via pinning: https://doi.org/10.1103/PhysRevE.75.046103 Criteria for global pinning-controllability of complex networks: https://doi.org/10.1016/j.automatica.2008.07.007 Controllability of complex networks: https://doi.org/10.1038/nature10011 Controlling complex networks with complex nodes: https://doi.org/10.1038/s42254-023-00566-3 Analysis, design and implementation of a novel scheme for in-vivo control of synthetic gene regulatory networks: https://doi.org/10.1016/j.automatica.2011.01.073 In-vivo Real-time Control of Protein Expression from Endogenous and Synthetic Gene Networks: https://doi.org/10.1371/journal.pcbi.1003625 A network model of Italy shows that intermittent regional strategies can alleviate the COVID-19 epidemic: https://doi.org/10.1038/s41467-020-18827-5 A Continuification-Based Control Solution for Large-Scale Shepherding: https://arxiv.org/abs/2411.04791 Shepherding control and herdability in complex multiagent systems: https://doi.org/10.1103/PhysRevResearch.6.L032012 Nonreciprocal field theory for decision-making in multi-agent control systems: https://doi.org/10.1038/s41467-025-63071-4 Support the show Podcast info Podcast website: https://www.incontrolpodcast.com/ Apple Podcasts: https://tinyurl.com/5n84j85j Spotify: https://tinyurl.com/4rwztj3c RSS: https://tinyurl.com/yc2fcv4y Youtube: https://tinyurl.com/bdbvhsj6 Facebook: https://tinyurl.com/3z24yr43 Twitter: https://twitter.com/IncontrolP Instagram: https://tinyurl.com/35cu4kr4 Acknowledgments and sponsors This 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.

  • S4 · E5
    April 15 · 1 hr 14 min

    ep43 - Steve Brunton: DMD, Koopman, SINDy, Eigensteve Channel, HydroGym, Optimization, and much more

    Outline 00:00 - Intro 01:15 - Origin story: early path and the road to science 04:20 - On graphical visualization and aphantasia 08:08 - The interest in fluid dynamics 12:00 - Caltech, Jerry Marsden, and the move to the Pacific time zone 19:43 - Dynamic Mode Decomposition (DMD) and the Koopman operator 27:15 - On teaching and the Eigensteve channel 39:22 - SINDy: Sparse Identification of Nonlinear Dynamics 45:45 - Automatic knowledge creation and Explainable AI 54:31 - HydroGym: RL benchmarks for fluid flow control 1:01:37 - Optimization boot camp 1:05:31 - Collimator 1:13:18 - Outro Links Steve's website: https://www.eigensteve.com/ Eigensteve channel: https://www.youtube.com/c/eigensteve Jerrold E. Marsden: https://en.wikipedia.org/wiki/Jerrold_E._Marsden Aphantasia: https://en.wikipedia.org/wiki/Aphantasia J. Nathan Kutz: https://amath.washington.edu/people/j-nathan-kutz Clarence W. Rowley: https://cwrowley.princeton.edu/ DMD: https://en.wikipedia.org/wiki/Dynamic_mode_decomposition Koopman operator: https://en.wikipedia.org/wiki/Koopman_operator Dynamic Mode Decomposition book: https://epubs.siam.org/doi/book/10.1137/1.9781611974508 On Dynamic Mode Decomposition paper: https://doi.org/10.3934/jcd.2014.1.391 DMD with control: https://arxiv.org/abs/1409.6358 Compressed sensing and DMD: https://doi.org/10.3934/jcd.2015002 Modern Koopman Theory for Dynamical Systems: https://arxiv.org/abs/2102.12086 Deep learning for universal linear embeddings of nonlinear dynamics: https://doi.org/10.1038/s41467-018-07210-0 Data-driven discovery of Koopman eigenfunctions for control: https://doi.org/10.1088/2632-2153/abf0f5 PyDMD: https://github.com/PyDMD Discovering governing equations from data by sparse identification of nonlinear dynamical systems: https://doi.org/10.1073/pnas.1517384113 Data-driven discovery of partial differential equations: https://doi.org/10.1126/sciadv.1602614 SINDy for model predictive control in the low-data limit: https://doi.org/10.1098/rspa.2018.0335 PySINDy: https://github.com/dynamicslab/pysindy SINDy with control: https://arxiv.org/abs/2108.13404 SINDy review: https://doi.org/10.1146/annurev-control-030123-015238 Data-Driven Science and Engineering: Machine Learning, Dynamical Systems, and Control: http://www.databookuw.com Explainable AI: Learning from the Learners: https://arxiv.org/abs/2601.05525 HydroGym: https://github.com/dynamicslab/hydrogym Support the show Podcast info Podcast website: https://www.incontrolpodcast.com/ Apple Podcasts: https://tinyurl.com/5n84j85j Spotify: https://tinyurl.com/4rwztj3c RSS: https://tinyurl.com/yc2fcv4y Youtube: https://tinyurl.com/bdbvhsj6 Facebook: https://tinyurl.com/3z24yr43 Twitter: https://twitter.com/IncontrolP Instagram: https://tinyurl.com/35cu4kr4 Acknowledgments and sponsors This 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.

  • S4 · E4
    March 16 · 1 hr 9 min

    ep42 - inControl guide to ... the Nyquist criterion

    Outline 00:00 – Intro 04:43 – Life and background 08:45 – Bell Labs 13:42 – Inventing the negative feedback amplifier 18:15 – Nyquist's landmark contributions 20:43 – Regeneration theory 27:10 – Frequency response 32:03 – Cauchy’s argument principle 36:05 – The Nyquist criterion 41:37 – Why is it so hard? 45:27 – Robustness, margins, and practical aspects 56:41 – Beyond the Nyquist criterion 1:04:25 – Pitfalls and common misunderstandings 1:07:00 – Outro Links Brian Douglas's video: http://y2u.be/sof3meN96MA The Idea Factory: https://en.wikipedia.org/wiki/The_Idea_Factory Inventing the Negative Feedback Amplifier: https://doi.org/10.1109/MSPEC.1977.6501721 Johnson–Nyquist noise: https://doi.org/10.1103/PhysRev.32.110 Nyquist sampling theorem: https://en.wikipedia.org/wiki/Nyquist%E2%80%93Shannon_sampling_theorem Regeneration theory: https://doi.org/10.1002/j.1538-7305.1932.tb02344.x Gain and phase margins: https://en.wikipedia.org/wiki/Bode_plot#Gain_margin_and_phase_margin Routh–Hurwitz criterion: https://en.wikipedia.org/wiki/Routh%E2%80%93Hurwitz_stability_criterion Åström’s lecture: https://archive.control.lth.se/media/Staff/KarlJohanAstrom/Lectures/ASMENyquistLecture2005.pdf Scale-Relative Graphs: https://doi.org/10.1109/TAC.2023.3234016 Support the show Podcast info Podcast website: https://www.incontrolpodcast.com/ Apple Podcasts: https://tinyurl.com/5n84j85j Spotify: https://tinyurl.com/4rwztj3c RSS: https://tinyurl.com/yc2fcv4y Youtube: https://tinyurl.com/bdbvhsj6 Facebook: https://tinyurl.com/3z24yr43 Twitter: https://twitter.com/IncontrolP Instagram: https://tinyurl.com/35cu4kr4 Acknowledgments and sponsors This 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.

  • S4 · E3
    February 16 · 1 hr 31 min

    ep41 - A minimal history of optimal control

    Outline 00:00 - Intro 02:55 - Brachistochrone problem 20:52 - Beginning of the calculus of variations 32:00 - Principle of least action 42:37 - Maximum principle 1:02:35 - Dynamic programming 1:11:12 - Linear quadratic control 1:16:37 - Beyond optimal control: games, nonsmooth analysis, MPC, RL 1:28:40 - Outro Links 300 years of optimal control: https://tinyurl.com/2s3t8se4 Brachistochrone: https://tinyurl.com/mwmv38ew Acta Eruditorum, 1696: https://tinyurl.com/55yf5v49 Acta Eruditorum, 1697: https://tinyurl.com/2a7msaaj Bernoulli family: https://tinyurl.com/y2vx2xdn Leibniz–Newton calculus controversy: https://tinyurl.com/3974fdhd Calculus of variations: https://tinyurl.com/3vvz8tuf Beginning of the Calculus of Variations: https://tinyurl.com/mv6btxfn Lagrangian mechanics: https://tinyurl.com/ycx5fv46 Euler–Lagrange equation: https://tinyurl.com/53yybvyx Hamiltonian mechanics: https://tinyurl.com/yfrd8zhz Hamilton–Jacobi equation: https://tinyurl.com/46m9cuvs Pontryagin: https://tinyurl.com/35ehxnex Pontryagin’s autobiography: https://ega-math.narod.ru/LSP/book.htm Discovery of the Maximum Principle: https://tinyurl.com/3s43nv4t Maximum Principle: https://tinyurl.com/4f7352t4 Goddard problem: https://tinyurl.com/5n8swp2m Hamilton–Jacobi–Bellman equation: https://tinyurl.com/4uemn5y4 Kalman filter: https://tinyurl.com/39zx5yry Clarke: https://tinyurl.com/yj2tzcjb MPC: https://tinyurl.com/4sf5pzvy RL: https://tinyurl.com/ee5ne7sz AlphaGo: https://tinyurl.com/ydrf8jsc Support the show Podcast info Podcast website: https://www.incontrolpodcast.com/ Apple Podcasts: https://tinyurl.com/5n84j85j Spotify: https://tinyurl.com/4rwztj3c RSS: https://tinyurl.com/yc2fcv4y Youtube: https://tinyurl.com/bdbvhsj6 Facebook: https://tinyurl.com/3z24yr43 Twitter: https://twitter.com/IncontrolP Instagram: https://tinyurl.com/35cu4kr4 Acknowledgments and sponsors This 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.

  • S4 · E2
    January 15 · 2 hr 11 min

    ep40 - Jeff Shamma: gain scheduling, nonlinear control, learning & dissipativity in games, jiu-jitsu

    Outline 00:00 - Intro 03:18 - Early days: why control, M. Athans, and IDSS 12:21 - What is gain scheduling? 33:37 - Paradigm shifts & the ‘90s: Minnesota → Texas → LA 42:19 - Robustness & fundamental limitations of nonlinear systems 57:35 - Set-valued control & estimation 01:04:52 - Game theory & multi-agent control 01:28:18 - Learning & dissipativity in games & multi agent AI 01:45:03 - KAUST: building something new 01:53:33 - On human-algorithmic interaction 01:59:07 - Advice to future students: control, jiu-jitsu, and chatbots in education 2:10:02 - Outro Links Jeff’s website: https://tinyurl.com/52btmmz7 CSM interview: https://tinyurl.com/49wh98x7 Domain: feedbackcontrol.com M. Athans: https://tinyurl.com/nhbw66wa PhD thesis: https://tinyurl.com/5eyxkfm6 IDSS: https://tinyurl.com/bdenwy6d Research on gain scheduling: https://tinyurl.com/55se8zcr Overview of LPV systems: https://tinyurl.com/3ksff58b Åström’s lecture: https://tinyurl.com/33mxkkfe Necessity of the small gain theorem: https://tinyurl.com/mjn9eeb4 Sensitivity reduction for nonlinear plants: https://tinyurl.com/23tej5yp Respect the unstable: https://tinyurl.com/3yww5eds Differential inclusion: https://tinyurl.com/4yvc8vcc Lectures on game theory: https://tinyurl.com/4z8hh3rn Dynamic fictitious play: https://tinyurl.com/yc6wsxjj Cooperative control and potential games: https://tinyurl.com/4hbmrt72 Dissipativity theory in game theory: https://tinyurl.com/3theyc7x Population games, stable games, and passivity: https://tinyurl.com/zxwtzv6w Game theory and control: https://tinyurl.com/yencrwm3 Higher-order uncoupled learning: https://tinyurl.com/376r5r9x Support the show Podcast info Podcast website: https://www.incontrolpodcast.com/ Apple Podcasts: https://tinyurl.com/5n84j85j Spotify: https://tinyurl.com/4rwztj3c RSS: https://tinyurl.com/yc2fcv4y Youtube: https://tinyurl.com/bdbvhsj6 Facebook: https://tinyurl.com/3z24yr43 Twitter: https://twitter.com/IncontrolP Instagram: https://tinyurl.com/35cu4kr4 Acknowledgments and sponsors This 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.

  • S4 · E1
    Dec 16, 2025 · 1 hr 6 min

    ep39 - Female influencers in control

    Outline 00:00 - Intro 05:01 - Female Influencers in Control — The Backstory 08:08 - Sofya Kovalevskaya 15:21 - Irmgard Lotz 26:16 - A new wave of control influencers 34:26 - Some data 43:38 - What can one do? 1:00:10 - Exhibition + survey 1:05:21 - Outro Links Female influencers in control project: https://tinyurl.com/mv879ahf Charlotta Johnsson: https://tinyurl.com/343esbeu Eva Westin: https://tinyurl.com/3p6fd5n8 Margret Bauer: https://tinyurl.com/47d35xzb Sofya Kovalevskaya: https://tinyurl.com/4mmzruwc Remembering Sofya Kovalevskaya: https://tinyurl.com/4cpw7vff Irmgard Lotz: https://tinyurl.com/y2exmndm Flow Computation Pioneer Irmgard Flügge-Lotz (1903–1974): https://tinyurl.com/4cy3xsp3 Discontinuous Automatic Control: https://tinyurl.com/yeys5dxx Historical Female Influencers in Automatic Control: https://tinyurl.com/yxw4bjxe Activity report: https://tinyurl.com/jwzn4z3c Support the show Podcast info Podcast website: https://www.incontrolpodcast.com/ Apple Podcasts: https://tinyurl.com/5n84j85j Spotify: https://tinyurl.com/4rwztj3c RSS: https://tinyurl.com/yc2fcv4y Youtube: https://tinyurl.com/bdbvhsj6 Facebook: https://tinyurl.com/3z24yr43 Twitter: https://twitter.com/IncontrolP Instagram: https://tinyurl.com/35cu4kr4 Acknowledgments and sponsors This 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.

  • S3 · E12
    Nov 17, 2025 · 1 hr 25 min

    ep38 - inControl guide to ... Feedback

    Outline 00:00 – Intro 07:22 – Anatomy of a feedback loop 15:12 – A brief historical recap on the history of feedback 23:40 – Inventing the negative feedback amplifier 34:28 – Feedback in biology, economics, society, and ... board games! 52:44 – Negative vs positive feedback 59:15 – Feedback, causality, and the arrow of time 1:06:22 – Classics: fundamental limitations, uncertainty, robustness 1:21:30 – Adaptive control: learning in the loop 1:29:50 – Modern AI feedback loops (RL, social media, alignment) 1:40:40 – Outro Links Watt’s flyball governor: https://tinyurl.com/ne5nene3 Maxwell - "On Governors": https://tinyurl.com/2a7cxj7m Black - "Inventing the negative-feedback amplifier": https://tinyurl.com/yevsemdp Nyquist Criterion: https://tinyurl.com/33hfbw8m Bode's integral: https://tinyurl.com/53sxkdzu Wiener - "Cybernetics": https://tinyurl.com/yta899ay Apoptosis: https://tinyurl.com/mcxjycka Predator–prey dynamics (Lotka–Volterra): https://tinyurl.com/5cvx33tn Bird migration cues (photoperiodism): https://tinyurl.com/y2e7t22v Neuron action potentials: https://tinyurl.com/2wemwdn4 Economic equilibrium & feedback: https://tinyurl.com/nhdx7r3s Echo chambers: https://tinyurl.com/4v8yk7e8 Game design: https://tinyurl.com/bdhdhv38 Gap metric (Vinnicombe): https://tinyurl.com/y9nw3yve Georgiou, Smith - "Feedback Control and the Arrow of Time": https://tinyurl.com/5xvj76jr Annaswamy, Fradkov - "A Historical Perspective of Adaptive Control and Learning": https://tinyurl.com/4nfew8vm Algorithmic trading flash crash (2010): https://tinyurl.com/2dsrs8j2 AI alignment: https://tinyurl.com/yvs3wnj8 Support the show Podcast info Podcast website: https://www.incontrolpodcast.com/ Apple Podcasts: https://tinyurl.com/5n84j85j Spotify: https://tinyurl.com/4rwztj3c RSS: https://tinyurl.com/yc2fcv4y Youtube: https://tinyurl.com/bdbvhsj6 Facebook: https://tinyurl.com/3z24yr43 Twitter: https://twitter.com/IncontrolP Instagram: https://tinyurl.com/35cu4kr4 Acknowledgments and sponsors This 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.

  • S3 · E11
    Oct 16, 2025 · 1 hr 24 min

    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 - Outro Links A. M. Lyapunov: https://tinyurl.com/3kjuhfns S. Lyapunov: https://tinyurl.com/mury7p3s Smirnov's bio: https://tinyurl.com/6wpffh3z Bissell's essay: https://tinyurl.com/3ds3hubj Sechenov: https://tinyurl.com/ypsr37vc Krylov: https://tinyurl.com/44wez8w5 Krylov subspace: https://tinyurl.com/bw527uh2 Chebyshev: https://tinyurl.com/2n35usfr The General Problem of Stability of Motion: https://tinyurl.com/mv2jchv2 Lyapunov stability: https://tinyurl.com/bb59vcuf Central limit theorem: https://tinyurl.com/3r36p458 Van der Pol oscillator: https://tinyurl.com/3s68yyhr Massera’s theorem: https://tinyurl.com/2zjmtvjw LaSalle’s invariance principle: https://tinyurl.com/pjnrp3fh Krasovskii: https://tinyurl.com/junbujsw Popov criterion: https://tinyurl.com/uyt3kx5b Control Lyapunov function: https://tinyurl.com/3v7bnusj Artstein–Sontag formula: https://tinyurl.com/3fdebmm3 Input-to-state stability: https://tinyurl.com/3nca9nj6 Lyapunov equation: https://tinyurl.com/mvakw3yw Hybrid systems: https://tinyurl.com/v39up6wk Control barrier function: https://tinyurl.com/sy4p5jj Dominance theory: https://tinyurl.com/msvnd4dv Support the show Podcast info Podcast website: https://www.incontrolpodcast.com/ Apple Podcasts: https://tinyurl.com/5n84j85j Spotify: https://tinyurl.com/4rwztj3c RSS: https://tinyurl.com/yc2fcv4y Youtube: https://tinyurl.com/bdbvhsj6 Facebook: https://tinyurl.com/3z24yr43 Twitter: https://twitter.com/IncontrolP Instagram: https://tinyurl.com/35cu4kr4 Acknowledgments and sponsors This 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.

  • S3 · E10
    Sep 15, 2025 · 2 hr 14 min

    ep36 - Markos Papageorgiou: Traffic Control — Theory and Practice

    Outline 00:00 – Intro 00:51 – Early steps in research 09:55 – Historical overview of traffic control 25:20 – What is traffic? 34:06 – Road traffic control 45:37 – PI control of road junctions 58:19 – From macroscopic to microscopic simulations and back 1:10:08 – Dynamic traffic assignment 1:21:28 – Return to Greece 1:28:33 – The optimal control problem 1:41:48 – Traffic estimation 1:47:34 – The impact of automation and connectivity 1:59:20 – Traffic as an artificial fluid 2:07:51 – The future of traffic control 2:10:48 – Advice to future students 2:13:53 – Outro Link Homepage: https://tinyurl.com/yw7kee97 CSS day lecture: https://tinyurl.com/46vua4r7 Monograph - Applications of Automatic Control Concepts to Traffic Flow Modeling and Control: https://tinyurl.com/5czax788 Review of road traffic control strategies: https://tinyurl.com/48u235pw ALINEA: https://tinyurl.com/bdtvny87 METANET: https://tinyurl.com/3h9xv48t AIMSUM:https://tinyurl.com/mr2xkryj AMOC: https://tinyurl.com/3v2xysr2 HERO: https://tinyurl.com/yzn6vkwh Real-time freeway traffic state estimation based on extended Kalman filter: a general approach: https://tinyurl.com/2ubsh7cy TRAMAN: https://tinyurl.com/ypr65cfa Coordinated and integrated control of motorway networks via non-linear optimal control: https://tinyurl.com/3v2xysr2 Motorway traffic flow modelling, estimation and control with vehicle automation and communication systems: https://tinyurl.com/49679hy8 From road congestion to vehicle-control enabled artificial traffic fluids: https://tinyurl.com/pk4j8htp Support the show Podcast info Podcast website: https://www.incontrolpodcast.com/ Apple Podcasts: https://tinyurl.com/5n84j85j Spotify: https://tinyurl.com/4rwztj3c RSS: https://tinyurl.com/yc2fcv4y Youtube: https://tinyurl.com/bdbvhsj6 Facebook: https://tinyurl.com/3z24yr43 Twitter: https://twitter.com/IncontrolP Instagram: https://tinyurl.com/35cu4kr4 Acknowledgments and sponsors This 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.

  • S3 · E9
    Aug 15, 2025 · 1 hr 46 min

    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 students Links - 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/5525xys2 Support the show Podcast info Podcast website: https://www.incontrolpodcast.com/ Apple Podcasts: https://tinyurl.com/5n84j85j Spotify: https://tinyurl.com/4rwztj3c RSS: https://tinyurl.com/yc2fcv4y Youtube: https://tinyurl.com/bdbvhsj6 Facebook: https://tinyurl.com/3z24yr43 Twitter: https://twitter.com/IncontrolP Instagram: https://tinyurl.com/35cu4kr4 Acknowledgments and sponsors This 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.

  • S3 · E8
    Jul 17, 2025 · 59 min

    ep34 - inControl guide to ... Controllability & Observability

    Outline 00:00 - Intro 01:06 - The big idea 03:42 - Controllability, observability, and ... the space race! 14:52 - Kálmán and the state-space paradigm 00:00 - The math and intuition: state-space basics, definitions, and duality 00:00 - A touch of nonlinearity 00:00 - Developments in the field: a chronological tour 00:00 - Controllability and observability: quo vaditis? 00:00 - Outro Links Kálmán: https://tinyurl.com/bdzj7mtr Controllability: https://tinyurl.com/28s5zxpn Observability: https://tinyurl.com/yjxncxdn Paper - "Contributions to the theory of optimal control": https://tinyurl.com/9wwf8pvh Paper - "Discovery and Invention": https://tinyurl.com/ryfn463n Kálmán's speech - Kyoto Prize : https://tinyurl.com/2ahrjdah Paper - Controllability of complex networks: https://tinyurl.com/3zk99n4s Support the show Podcast info Podcast website: https://www.incontrolpodcast.com/ Apple Podcasts: https://tinyurl.com/5n84j85j Spotify: https://tinyurl.com/4rwztj3c RSS: https://tinyurl.com/yc2fcv4y Youtube: https://tinyurl.com/bdbvhsj6 Facebook: https://tinyurl.com/3z24yr43 Twitter: https://twitter.com/IncontrolP Instagram: https://tinyurl.com/35cu4kr4 Acknowledgments and sponsors This 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.

  • S3 · E7
    Jun 16, 2025 · 1 hr 18 min

    ep33 - Mathukumalli Vidyasagar: control synthesis, robotics, randomized algorithms, learning, compressed sensing, non-convex optimization

    Outline 00:00 - Intro 00:42 - “Research should be fun” 02:02 - Early steps in research 09:00 - Book writing and meeting C. Desoer 18:33 - Control synthesis via the factorization approach 25:46 - The graph metric 29:27 - Robotics and CAIR 36:00 - Randomized algorithms 40:41 - On learning 44:05 - Neural networks 48:40 - Tata, hidden Markov models, and large deviations theory 55:48 - Picking problems and role of luck 58:07 - Compressed sensing and non-convex optimization 01:02:17 - Interplay between control and machine learning 01:09:10 - Advice to future students 01:13:29 - Future of control Links Sagar’s website: https://tinyurl.com/4hwruajs Hilbert: https://tinyurl.com/ykpdh929 Feedback Systems: https://tinyurl.com/2k3jsdat How to Write Mathematics: https://tinyurl.com/35794bv9 Nonlinear systems: https://tinyurl.com/2fdtnjcm C. Desoer: https://tinyurl.com/svhknren Control Systems Synthesis — A Factorization Approach: https://tinyurl.com/59wdc4sv Aryabhata: https://tinyurl.com/43x6hfhp A Brief History of the Graph Topology: https://tinyurl.com/49uftzdk Robot Dynamics and Control: https://tinyurl.com/5b4cmt7m CAIR: https://tinyurl.com/rajdtxax Randomized algorithms for robust controller synthesis using statistical learning theory: https://tinyurl.com/wanpyeuc R. Tempo: https://tinyurl.com/jkufdwar VC dimension: https://tinyurl.com/mvwk8afm Learning and Generalisation: https://tinyurl.com/2s3mzh8h Are Analog Neural Networks Better Than Binary Neural Networks? https://tinyurl.com/3fnk27xc Hidden Markov Processes: https://tinyurl.com/t5frrvfz An Introduction to Compressed Sensing: https://tinyurl.com/fc6a8eer Support the show Podcast info Podcast website: https://www.incontrolpodcast.com/ Apple Podcasts: https://tinyurl.com/5n84j85j Spotify: https://tinyurl.com/4rwztj3c RSS: https://tinyurl.com/yc2fcv4y Youtube: https://tinyurl.com/bdbvhsj6 Facebook: https://tinyurl.com/3z24yr43 Twitter: https://twitter.com/IncontrolP Instagram: https://tinyurl.com/35cu4kr4 Acknowledgments and sponsors This 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.

  • S3 · E6
    May 16, 2025 · 1 hr 30 min

    ep32 - Anders Rantzer: robust control, IQCs, nonlinear and hybrid systems, positivity and scalable control, adaptive control

    Outline 00:00 - Intro and early steps in control 06:42 - Journey to the US 08:30 - Kharitonov's theorem and early influences 12:10 - From Lund to KTH (Stockholm) 15:01 - Ascona and collaboration with Megretski 24:06 - The IMA year in Minnesota 33:50 - Integral quadratic constraints 46:10 - KYP lemma and meeting Yakubovich 52:35 - Piecewise hybrid systems 59:41 - Dual to Lyapunov theorem 1:06:48 - Positivity and large scale systems 1:15:25 - Adaptive and dual control 1:25:24 - Future research directions Links Master's thesis: https://tinyurl.com/vnkuf44a Kharitonov's theorem: https://tinyurl.com/3w3a3z52 IMA: https://cse.umn.edu/ima LCCC: http://www.lccc.lth.se/ Real stability radius paper: https://tinyurl.com/yc79zt58 IQC paper: https://tinyurl.com/mw2te4vw KYP lemma paper: https://tinyurl.com/2fv32yw6 Piecewise quadratic Lyapunov functions for hybrid systems: https://tinyurl.com/38a5f432 Piecewise linear quadratic optimal control: https://tinyurl.com/yhddbhpx Fast switches in relay feedback systems: https://tinyurl.com/23e95k9n Dual to Lyapunov's stability theorem: https://tinyurl.com/yc2uf652 ECC’15 plenary: https://tinyurl.com/sy3k7vf7 Scalable control of positive systems: https://tinyurl.com/3vcda447 Tutorial on Positive Systems and Large Scale Control: https://tinyurl.com/3e4fkxz8 KYP lemma for positive systems: https://tinyurl.com/3pdp3p7p CDC’25 plenary: https://tinyurl.com/497py5wh Data driven Riccati equation: https://tinyurl.com/3swjtvab Support the show Podcast info Podcast website: https://www.incontrolpodcast.com/ Apple Podcasts: https://tinyurl.com/5n84j85j Spotify: https://tinyurl.com/4rwztj3c RSS: https://tinyurl.com/yc2fcv4y Youtube: https://tinyurl.com/bdbvhsj6 Facebook: https://tinyurl.com/3z24yr43 Twitter: https://twitter.com/IncontrolP Instagram: https://tinyurl.com/35cu4kr4 Acknowledgments and sponsors This 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.

  • S3 · E5
    Apr 15, 2025 · 2 hr 2 min

    ep31 - Miroslav Krstić: nonlinear adaptive control, PDEs, delays, extremum seeking, safety, neural operators for control

    Outline 00:00 - Intro 01:07 - Early steps 02:47 - Why control? 05:20 - The move to the US 07:40 - The first journal paper 13:30 - What is backstepping? 17:08 - Grad school 25:10 - Stochastic stabilization 29:53 - The interest in PDEs 43:24 - Navier-Stokes equations 52:12 - Hyperbolic PDEs and traffic models 57:51 - Predictors for long delays 1:08:14 - Extremum seeking 1:27:14 - Safe control 1:36:30 - Interplay between machine learning and control 1:42:28 - Back to the roots: robust adaptive control 1:50:50 - On service 1:55:54 - Advice Links Miroslav’s site: https://flyingv.ucsd.edu/ Tuning functions paper: https://tinyurl.com/yznv6r9r P. Kokotović: https://tinyurl.com/mwmbm9yh Separation and swapping: https://tinyurl.com/y4fre6t8 Adaptive nonlinear stabilizers: https://tinyurl.com/4a9wmmvx KKK book: https://tinyurl.com/2kw2b4k6 Stochastic nonlinear stabilization: https://tinyurl.com/4td3537a Follow-up with unknown covariance: https://tinyurl.com/4c4n7fd7 Boundary state feedbacks for PIDEs: https://tinyurl.com/4e9y4tdr Boundary Control of PDEs: https://tinyurl.com/d8x38bmj Stabilization of Navier–Stokes systems: https://tinyurl.com/4a8cbjem Traffic congestion control: https://tinyurl.com/525jphs5 Delay compensation: https://tinyurl.com/5yz6uj9p Nonlinear predictors for long delays: https://tinyurl.com/7wvce6vy Stability of extremum seeking: https://tinyurl.com/mr5cvzd3 Nash equilibrium seeking: https://tinyurl.com/yeywrysn Inverse optimal safety filters: https://tinyurl.com/9dkrpvkk Neural operators for PDE control: https://tinyurl.com/5yynsp7v Bode lecture: https://tinyurl.com/mp92cs9u CSM article: https://tinyurl.com/2av9r253 Support the show Podcast info Podcast website: https://www.incontrolpodcast.com/ Apple Podcasts: https://tinyurl.com/5n84j85j Spotify: https://tinyurl.com/4rwztj3c RSS: https://tinyurl.com/yc2fcv4y Youtube: https://tinyurl.com/bdbvhsj6 Facebook: https://tinyurl.com/3z24yr43 Twitter: https://twitter.com/IncontrolP Instagram: https://tinyurl.com/35cu4kr4 Acknowledgments and sponsors This 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.

  • S3 · E4
    Feb 17, 2025 · 1 hr 46 min

    ep30 - Manfred Morari: A pioneer’s journey through robust, predictive and computational control

    Outline 00:00 - Intro 03:26 - Development: ETH Zürich 07:15 - Growth: Minnesota and Wisconsin 36:16 - Productivity: Caltech 53:28 - Change: ETH Zürich 01:37:18 - Continuity: University of Pennsylvania 01:45:36 - Outro Links Manfred’s website: https://tinyurl.com/mryp38w3 Farewell lecture: https://tinyurl.com/2j5uxsp4 Laying the foundations: an advisor’s perspective: https://tinyurl.com/ym5e4437 Internal model control. A unifying review and some new results: https://tinyurl.com/vmm7a4tk Internal model control - PID controller design: https://tinyurl.com/rup3azjm Robust process control: https://tinyurl.com/8uhurkub Robust control of ill-conditioned plants: high-purity distillation: https://tinyurl.com/5xfty34c Computational complexity of \mu calculation: https://tinyurl.com/24yvvcc7 Robust constrained model predictive control using linear matrix inequalities: https://tinyurl.com/3pdk55kk Control of systems integrating logic, dynamics, and constraints: https://tinyurl.com/489ekvsn The explicit linear quadratic regulator for constrained systems: https://tinyurl.com/mr2e3z83 Model predictive control: https://tinyurl.com/2s4dafkd Parametric programming: https://tinyurl.com/2u9vj79y Embotech: https://tinyurl.com/3f99ks65 Embedded online optimization for model predictive control at megahertz rates: https://tinyurl.com/59z3vnb9 Donoho’s “Bridge from mathematical to digital and back”: https://tinyurl.com/3f9fk73w Support the show Podcast info Podcast website: https://www.incontrolpodcast.com/ Apple Podcasts: https://tinyurl.com/5n84j85j Spotify: https://tinyurl.com/4rwztj3c RSS: https://tinyurl.com/yc2fcv4y Youtube: https://tinyurl.com/bdbvhsj6 Facebook: https://tinyurl.com/3z24yr43 Twitter: https://twitter.com/IncontrolP Instagram: https://tinyurl.com/35cu4kr4 Acknowledgments and sponsors This 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.

  • S3 · E3
    Jan 17, 2025 · 1 hr 29 min

    ep29 - Richard Bellman: The Father of Dynamic Programming

    Outline 00:00 - Intro 02:42 - Early life 10:24 - WWII, Johns Hopkins, Belleville, Madison 17:17 - Princeton 20:30 - Los Alamos 24:12 - Back to Princeton 31:01 - RAND + Stanford 42:10 - Dynamic programming 46:06 - Project matterhorn 51:00 - Back to RAND 56:14 - Curse of dimensionality 1:02:41 - Divorce and remarriage 1:08:29 - Greenglass affair 1:14:21 - USC 1:18:55 - Center for the Study of Democratic Institutions 1:22:55 - Last years 1:26:08 - Outro Links R. Bellman: https://tinyurl.com/ydkmwexy C. M. Bellman: https://tinyurl.com/yfbafetj Dynamic programming: https://tinyurl.com/mtsuampr Curse of dimensionality: https://tinyurl.com/383yads8 Hamilton-Jacobi-Bellman equation: https://tinyurl.com/muu4ckvs Bellman equation: https://tinyurl.com/y8bvzztm Grönwall-Bellman inequality: https://tinyurl.com/mrwdxzd8 S. Lefschetz: https://tinyurl.com/2s39nnzv RAND corporation: https://tinyurl.com/4bfyhp9p Eye of the hurricane: https://tinyurl.com/bd6h84ka G. Szegő: https://tinyurl.com/mrthmmvm Project Matterhorn: https://tinyurl.com/5az9c3sh D. Greenglass: https://tinyurl.com/p2kfp7cz Center for the Study of Democratic Institutions: https://tinyurl.com/3vkupdty Support the show Podcast info Podcast website: https://www.incontrolpodcast.com/ Apple Podcasts: https://tinyurl.com/5n84j85j Spotify: https://tinyurl.com/4rwztj3c RSS: https://tinyurl.com/yc2fcv4y Youtube: https://tinyurl.com/bdbvhsj6 Facebook: https://tinyurl.com/3z24yr43 Twitter: https://twitter.com/IncontrolP Instagram: https://tinyurl.com/35cu4kr4 Acknowledgments and sponsors This 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.

  • S3 · E2
    Dec 15, 2024 · 1 hr 29 min

    ep28 - Karl Henrik Johansson: Semper in Motu - Hybrid Systems, Wireless and Event-Based Control, Mobility, Cybersecurity, and Societal Challenges

    Outline 00:00 Intro 01:19 Swedish control heritage and early steps 05:21 PhD at Lund and relay feedback systems 15:40 Berkeley years 19:58 Hybrid systems 26:46 Networked control systems 30:32 Interaction with industry 34:40 Wireless control systems 40:33 Platooning in freight transport 49:27 Future of mobility 52:55 Event-based control 58:58 Cybersecurity 1:05:10 Societal-scale challenges 1:12:33 Bode lecture reflections 1:15:05 Digital futures 1:23:38 Advice for future students Links Kalle’s website: https://tinyurl.com/yc34dv2x K. J. Åstrom: https://tinyurl.com/5n9admvk PhD Thesis: https://tinyurl.com/3868a92a Relay feedback: https://tinyurl.com/3w4w9dku Fast switches in relay feedback systems: https://tinyurl.com/5dcvn79f S. Sastry: https://tinyurl.com/3f5e978z Hybrid system: https://tinyurl.com/v39up6wk Dynamical properties of hybrid automata: https://tinyurl.com/yx73x6ba Wireless Network Design for Control Systems: https://tinyurl.com/mry5cnan Cyber–Physical Control of Road Freight Transport: https://tinyurl.com/yc4yhhwu S. Shladover: https://tinyurl.com/352cfwdm An introduction to event-triggered and self-triggered control: https://tinyurl.com/37p9w8cz Distributed Event-Triggered Control for Multi-Agent Systems: https://tinyurl.com/5ddnjsrz Cyber security analysis of state estimators in electric power systems: https://tinyurl.com/2wj74spj A secure control framework for resource-limited adversaries: https://tinyurl.com/37pnehuv Control for societal-scale challenges 2030: https://tinyurl.com/yfd3v296 Digital futures: https://tinyurl.com/h3nyb22n Support the show Podcast info Podcast website: https://www.incontrolpodcast.com/ Apple Podcasts: https://tinyurl.com/5n84j85j Spotify: https://tinyurl.com/4rwztj3c RSS: https://tinyurl.com/yc2fcv4y Youtube: https://tinyurl.com/bdbvhsj6 Facebook: https://tinyurl.com/3z24yr43 Twitter: https://twitter.com/IncontrolP Instagram: https://tinyurl.com/35cu4kr4 Acknowledgments and sponsors This 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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