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.

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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

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.

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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_qRuHkD5lc

Onboard 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