We consider electrical circuits containing linear resistances, capacitances, inductances. The circuits can be described by differential-algebraic input-output systems, where the input consists of voltages of voltage sources and currents of current sources and the output consists of currents of voltage sources and voltages of current sources. We generalize a characterization of asymptotic stabil...

A direct adaptive neural network tracking control scheme is presented for a class of nonaffine nonlinear systems with zero dynamics. The method does not assume boundedness on the time derivative of a control effectiveness term. Parameters in neural networks are updated using a gradient descent method which designed in order to minimize a quadratic cost function of the error between the unknown ...

Abstract: For a quadrotor, one can identify the two well-known inherent rotorcraft characteristics: underactuation and strong coupling in pitch-yaw-roll. To confront these problems and design a station-keeping and tracking controller, dynamic inversion is used. Typical applications of dynamic inversion require the selection of the output control variables to render the internal dynamics stable....

Consider a dynamical many-body system with a random initial state subsequently evolving through stochastic dynamics. What is the relative importance of the initial state (“nature”) vs. the realization of the stochastic dynamics (“nurture”) in predicting the final state? We examined this question for the two-dimensional Ising ferromagnet following an initial deep quench from T = ∞ to T = 0. We p...

Switching dynamics of flagellar motors of Escherichia coli is commonly observed through markers attached to the flagellar filaments. To eliminate possible complications resulting from the conformational transitions of these filaments and to look at the output of motors more directly, we monitored motor rotation by attaching nanogold spheres to the hooks of cells lacking filaments. We observed e...

The finite-size effects prominent in zero-range processes exhibiting a condensation transition are studied by using continuous-time Monte Carlo simulations. We observe that, well above the thermodynamic critical point, both static and dynamic properties display fluidlike behavior up to a density ρc(L), which is the finite-size counterpart of the critical density ρc=ρc(L→∞). We determine this de...

This paper presents necessary and sufficient conditions for the local linearization of dynamics transverse to an embedded submanifold of the state space. The main focus is on output maneuver regulation where stabilizing transverse dynamics is a key requirement.

This paper presents the ability of hybrid zero dynamics (HZD) feedback control method to reproduce human like movements for walking push recovery of an under-actuated 3D biped model. The balance recovery controller is implemented on a three-dimensional under-actuated bipedal model subjected to a push disturbance. The biped robot model is considered as a hybrid system with eight degrees of freed...

We prove new inequalities implying exponential decay of relative entropy functionals for a class of Zero–Range processes on the complete graph. We first consider the case of uniformly increasing rates, where we use a discrete version of the Bakry– Emery criterium to prove spectral gap and entropy dissipation estimates, uniformly over the number of particles and the number of vertices. We then s...