Episoder
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In this episode I talk to Professor Paolo Rapisarda about a bunch of interesting theoretical (but very useful) aspects of control, including his work on behavioural systems theory, model reduction, Willems’ fundamental lemma, and data-driven control.
You can engage with the podcast on
X: https://x.com/coffee_ctrl_pod
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Instagram: https://www.instagram.com/coffee_and_control_podcast/
Or email me at [email protected]
Paolo Rapisarda: https://www.southampton.ac.uk/people/5x2hb9/professor-paolo-rapisarda
Introduction
State maps for linear systems: https://eprints.soton.ac.uk/264646/1/State_maps.pdf
Harry Trentelman: https://research.rug.nl/en/persons/harry-trentelman
Jan Willems: https://homes.esat.kuleuven.be/~sistawww/smc/jwillems/
PhD thesis: https://research.rug.nl/en/publications/linear-differential-systems-2
Behavioural systems
Epic Jan Willems behavioural systems paper: https://skoge.folk.ntnu.no/prost/proceedings/cpc6-jan2002/willems.pdf
State maps
LTV paper:https://eprints.soton.ac.uk/457114/1/State_for_linear_discrete_time_varying_systems.pdf
Leibnitz rule: https://www.cuemath.com/calculus/leibniz-rule/
Dissipativity
Jan Willem’s paper: https://link.springer.com/article/10.1007/bf00276493
Jan Willem’s optimal control paper: https://ieeexplore.ieee.org/abstract/document/1099831
Quadratic differential forms: https://epubs.siam.org/doi/10.1137/S0363012996303062
Balancing
Siep Weiland: https://ieeexplore.ieee.org/author/37301202100
Keith Glover: https://www.eng.cam.ac.uk/profiles/kg103
H-infinity model order reduction: https://ieeexplore.ieee.org/document/701085
1980 Moore balancing paper: https://ieeexplore.ieee.org/document/1102568
Kalman decomposition: https://en.wikipedia.org/wiki/Kalman_decomposition
Arjan van der Schaft: https://scholar.google.nl/citations?user=BIPifjAAAAAJ&hl=en
Hamiltonian systems: https://www.unige.ch/~hairer/poly_geoint/week1.pdf
Port Hamiltonianity:https://www.annualreviews.org/content/journals/10.1146/annurev-control-081219-092250
Jacqueline Scherpen: https://research.rug.nl/en/persons/jacqueline-scherpen
Balancing of Port-Hamiltonian systems: https://research.rug.nl/files/2999949/2003ProcIFACWorkshopLHMNCLopezlena.pdf
Balancing for non-linear systems: https://research.rug.nl/files/3318296/1993ProcECCScherpen.pdf
Fundamental lemma
Ivan Markovski: https://scholar.google.com/citations?user=qSl_3FQAAAAJ&hl=en
Continuous-time work: https://www.sciencedirect.com/science/article/pii/S016769112400238X
Chebychev polynomials: https://mathworld.wolfram.com/ChebyshevPolynomialoftheFirstKind.html
Kanat Camblibel: https://scholar.google.com/citations?user=aeWjKPcAAAAJ&hl=en
Sufficient condition modification of Willems’s lemma: https://arxiv.org/abs/2405.18962
Experimental implementation: https://arxiv.org/abs/2407.12509
Data-driven control
Data-driven ILC:https://ieeexplore.ieee.org/abstract/document/10384133
DeePC: https://arxiv.org/abs/1811.05890
Jonathan Mayo-Maldonado: https://scholar.google.co.uk/citations?user=W-vnMBwAAAAJ&hl=en
Extra questions
Aizerman’s conjecture: https://en.wikipedia.org/wiki/Aizerman%27s_conjecture
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In this episode I interview Professor Sabine Hauert about the super interesting work she does on the control of swarm robots, how considering nanoparticles as swarms can be used to treat cancer, and how morphogenesis can generate structure from random interactions.
You can follow us on Instagram (https://www.instagram.com/coffee_and_control_podcast/),BlueSky (https://bsky.app/profile/coffee-and-control.bsky.social) and X(https://x.com/coffee_ctrl_pod)for updates on episodes!
You can also connect with or follow me on LinkedIn: https://www.linkedin.com/in/lucy-hodgins-733a30175/
References
Sabine: https://hauertlab.com/
Podcasts/ TEDx talks
https://www.youtube.com/watch?v=sn1gmcs-HXU
https://www.youtube.com/watch?v=NBbYuzhxpE0
http://youtube.com/watch?v=vvknnV6325Q
Robot Talk: https://open.spotify.com/episode/0JWPnKQmwTQdM1K7247jkq
Complexity: https://open.spotify.com/episode/6nfcUpB3wesHqXP5XzSPAl
Engenius: https://open.spotify.com/episode/34jert4EQGBVrQBfS4OfxW
Research
Invertebrate inspiration review paper: https://iopscience.iop.org/article/10.1088/1748-3190/acc223/meta
Centipede control inspiration: https://journals.plos.org/plosone/article?id=10.1371/journal.pone.0171421
David Garzon-Ramos: https://dgarzonramos.com/
Puzzle/ Problem/mess paper: https://arxiv.org/abs/2410.22478
Dario Floriano: https://people.epfl.ch/dario.floreano?lang=en
Manuela Veloso: https://engineering.cmu.edu/directory/bios/veloso-manuela.html
PhD
PhD thesis: https://infoscience.epfl.ch/entities/publication/dbb9fe40-930c-4e54-a5c0-10b62ebb6d1c
Robot swarm video: https://www.youtube.com/watch?v=n_qRuHkD5lcOnboard evolution of swarm behaviours: https://advanced.onlinelibrary.wiley.com/doi/pdf/10.1002/aisy.201900031
Supervisory control papers: https://research-information.bris.ac.uk/files/229980063/Paper_SWARM2019.pdf
MAP-elites algorithm: https://link.springer.com/chapter/10.1007/978-3-319-77538-8_49
Morphogenesis
James Sharpe: https://www.embl.org/people/person/james-sharpe/
Original paper: https://www.science.org/doi/full/10.1126/scirobotics.aau9178
Controllability of morphogenesis: https://research-information.bris.ac.uk/en/publications/toward-controllable-morphogenesis-in-large-robot-swarms
Controllability in control theory: https://en.wikipedia.org/wiki/Controllability
Steve Brunton controllability Gramian video: https://www.youtube.com/watch?v=ZNHx62HbKNA
Alan Turing reaction diffusion paper: https://www.dna.caltech.edu/courses/cs191/paperscs191/turing.pdf
Nanoswarms
Sangita Bhatia: https://ki.mit.edu/people/faculty/sangeeta-bhatia
Nanoswarm papers: https://pmc.ncbi.nlm.nih.gov/articles/PMC4295824/
John Ives: https://www.bristol.ac.uk/people/person/Jonathan-Ives-fa38de81-8d34-4978-a99d-1f55efe2e0f4/
Matimba Swana: https://research-information.bris.ac.uk/en/persons/matimba-c-swana
Outreach
AIhub.org: https://aihub.org/
Robohub.org: https://robohub.org/
Drones for 3D printing buildings: https://robohub.org/five-ways-drones-will-change-the-way-buildings-are-designed/
AI environmental impact: https://aihub.org/2025/02/06/explained-generative-ais-environmental-impact/
AI for drug development: https://aihub.org/2025/01/09/will-ai-revolutionize-drug-development-researchers-explain-why-it-depends-on-how-its-used/
Extra questions
Radhika Nagpal: https://www.radhikanagpal.org/
Dot robots: https://arxiv.org/pdf/2203.13809
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Mangler du episoder?
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In this episode, I talk to Professor William Holderbaum about some of the many fascinating areas of research he’s involved in, including Boolean control, geometric control, and control of electroactive polymer gels—plus a lot more!
Follow us for updates on new episodes:
Instagram
BlueSky
X (Twitter)PhD research
PhD Thesis (in French) Boolean Control Using State-Space Approach Neural Networks for Boolean Control PID Control of Boolean Systems Predictive Control Sliding Mode ControlFES work
Coffee and Control Episode with Chris Freeman Professor Ken Hunt FES for Paraplegic Standing Adaptive PID Sliding Mode ControlFES muscle fatigue papers
Chapter 5 of this Thesis PubMed Paper 1 PubMed Paper 2 IEEE Explore Paper Fatigue reduction with soft roboticsGeometric control
Resources for Understanding Geometric Control Lecture Slides YouTube Video 6D Lie Groups Application to Spacecraft Time-Parameterized Motion PlanningControl of RTG cranes
Optimal Control and MPC Fuzzy Logic ControlElectroactive polymer gels
Paper 1 Paper 2 Springer Chapter Model-Based Control of Soft Robots Arm with Self-Control Feedback Loop -
In this episode I talk to Dr Zehor Belkhatir about her fascinatingwork using fractional order systems to model the brain, as well as how controlcan be used for chemotherapy treatment.
You can follow us on Instagram, BlueSky, and X for updates on episodes!
References
Thesis: Dr. Zehor Belkhatir's thesis explores key aspects of fractional systems in biomedical applications. Fractional order estimation: ScienceDirect article. Cardiovascular system ECC paper: IEEE Explore paper. Hybrid dynamical systems: Springer chapter. Kevin Aquino: Google Scholar profile. Fractional differential equations textbook: Mathematics in Science and Engineering. Fractional calculus in biomedical engineering book: Begell House publication. Fractional Robust Control Design book: Springer book. Fractional order Matlab toolbox: MathWorks resource. Fractional Youla-Kucera parameterisation: (Details forthcoming). Allen Tannenbaum: Profile. Jeff Shamma: Profile. Larry Norton: MSKCC Profile. Cancer modelling (and MPC) paper: Google Scholar citation. Impulse response cancer control: Google Scholar citation. Optimal mass transport paper: bioRxiv abstract. -
In this episode we interview Professor Matthew Turner, professor in the Cyber Physical Systems group at the university of Southampton, about his fascinating work on aircraft control, anti-windup, Lur’e systems, and his recent research into applying techniques from control theory to the analysis of neural networks.
Contact me at: [email protected].uk
We have an Instagram now!
References:
PhD Thesis NationalResearch Council of Canada Aerospace Research Centre Nonlinear High Gain Feedback LMIs in Control AW for Model-Reference Adaptive Control AW for ILC Anti-Windup Review Two-Stage Anti-Windup Anti-Windup in Anticipation of Saturation (Zongli Lin) Matt Turner Chris Richards Aizerman Conjecture Ian Postlethwaite Jorge Sofrony Murray Kerr Oliver Brieger Circle and Popov Criterion Khalil Nonlinear Control Book Zames and Sakkary Gap Metric Paper George Zames Zames-Falb Multipliers Summary Article O’Shear Zames-Falb Multipliers: Don’t Panic Early Neural Network Work (with Guido Hermann) Additional NN Research Ross Drummond ReLU Network Analysis Using Lur’e Systems Antonis Papachristodolou Exploiting Sparsity in Neural Networks Robust Control Paper Malcolm Smith Glenn VinnicombeOther cool neural network/ control papers
Synthesis of MPC Algorithms that Robustly Approximate Neural Networks Shrinking Down Neural Networks Using Inspiration from Control Designing Neural Networks that are More Robust -
In this first episode, I talk to Chris Freeman, professor of applied control at the University of Southampton and expert on all things related to iterative learning control and its application in rehabilitation.
Contact Chris at [email protected] Contact me at [email protected].ukReferences:
1984 ILC paper Early stroke rehabilitation work RC for tremor suppression ILC and RC design paper Multiple model adaptive control for FES Robust control of Hammerstein systems Electrode array control (1) Electrode array control (2) FES control review paper Thoracic pressure control paperPeople Chris worked with throughout his PhD:
Paul Lewin Eric Rogers Jari Hatonen David Owens James RatcliffeRehabilitation robotics folks:
Jane Burridge Igo Krebs Neville Hogan Jonathan Rossiter (Cool video)Tremor suppression:
Kevin Moore Trish SampsonMultiple model ILC:
Mark French Dominic Buchstaller Oli Brend Abeer Al-GburiElectrode arrays:
Thierry Keller FATRONIK-Tecnalia research centre Russel Torah Kai Yang m.c. SchraefelBiomedical contexts of ILC:
Mike Thompson Rujie SunEDI:
Reena Pau Dorota SikorskaOther projects:
Haiming Liu Rafael Mestre -
Trailer for my new control-related podcast! Epsiodes will be released on the 1st of each month.
You can check out inControl here: https://www.incontrolpodcast.com/
inControl episodes tend to be realeased during the middle of the month, so you could subscribe to both!
(Please bear with me regarding the strange background noises and general awkwardness - I'm still learning how podcast making works!)
