{"id":{"repo_id":"uiuc","oai_identifier":"oai:www.ideals.illinois.edu:2142/102798"},"canonical_url":"https://search.dev.ndltd.org/etd/uiuc/oai:www.ideals.illinois.edu:2142/102798","repository":{"repo_id":"uiuc","name":"University of Illinois - Urbana-Champaign","base_url":"https://www.ideals.illinois.edu/oai-pmh"},"display":{"title":"Robust adaptive sampled-data control design for MIMO systems: Applications in cyber-physical security","abstract":"This dissertation extends the L1 adaptive control theory to sampled-data (SD) framework. Multi-input multi-output non-square (underactuated) systems are considered with different sampling rates for inputs and outputs. The sampled-data framework allows to address non-minimum phase systems, subject to less restrictive assumptions as compared to continuous time framework. It is shown that the closed-loop system can recover the response of a continuous-time reference system as the sampling time of the SD controller tends to zero. In this thesis, the L1 sampled data adaptive controller is integrated with the Simplex fault-tolerant architecture for resilient control of cyber-physical systems (CPSs). Detection and mitigation of zero-dynamics attacks are addressed and validated in flight tests of a quadrotor in Intelligent Robotics Laboratory of UIUC. The experiments show that the multirate L1 controller can e effectively detect stealthy zero-dynamics attacks and recover the stability of the perturbed system, where the single-rate conventional L1 adaptive controller fails. From the perspective of applications, the dissertation considers navigation and control of autonomous vehicles and proposes a two-loop framework, in which the high-level reference commands are limited by a saturation function, while the low-level controller tracks the reference by compensating for disturbances and uncertainties. A class of nested, uncertain, multi-input multi-output (MIMO) systems subject to reference command saturation, possibly with non-minimum phase zeros, is considered. Robust stability and performance of the overall closed-loop system with command saturation and multirate L1 adaptive controller are analyzed. Finally, a systematic analysis and synthesis method is proposed for the optimal design of filters in the L1 adaptive output-feedback structure, where the lowpass filter is the key to the trade-off between the performance and robustness of the closed-loop system. An optimization problem is formulated using the constraint on the input time-delay margin and a cost-function based on mixed L1/H2-norm performance measure. The optimization problem can be efficiently solved using linear/quadratic programming. We note that the framework of this dissertation and the multi-loop problem formulation of navigation and control of autonomous systems provide suitable synthesis and analysis tools for autonomous cyber-physical systems (CPSs), including self-driving cars, unmanned aerial vehicles (UAVs), and industrial/medical robots, to name just a few. The SD design facilitates the implementation of control laws on digital computers in CPSs, where the input/output signals are available at discrete time instances with different sampling rates.","abstract_html":"This dissertation extends the L1 adaptive control theory to sampled-data (SD) framework. Multi-input multi-output non-square (underactuated) systems are considered with different sampling rates for inputs and outputs. The sampled-data framework allows to address non-minimum phase systems, subject to less restrictive assumptions as compared to continuous time framework. It is shown that the closed-loop system can recover the response of a continuous-time reference system as the sampling time of the SD controller tends to zero. In this thesis, the L1 sampled data adaptive controller is integrated with the Simplex fault-tolerant architecture for resilient control of cyber-physical systems (CPSs). Detection and mitigation of zero-dynamics attacks are addressed and validated in flight tests of a quadrotor in Intelligent Robotics Laboratory of UIUC. The experiments show that the multirate L1 controller can e effectively detect stealthy zero-dynamics attacks and recover the stability of the perturbed system, where the single-rate conventional L1 adaptive controller fails. From the perspective of applications, the dissertation considers navigation and control of autonomous vehicles and proposes a two-loop framework, in which the high-level reference commands are limited by a saturation function, while the low-level controller tracks the reference by compensating for disturbances and uncertainties. A class of nested, uncertain, multi-input multi-output (MIMO) systems subject to reference command saturation, possibly with non-minimum phase zeros, is considered. Robust stability and performance of the overall closed-loop system with command saturation and multirate L1 adaptive controller are analyzed. Finally, a systematic analysis and synthesis method is proposed for the optimal design of filters in the L1 adaptive output-feedback structure, where the lowpass filter is the key to the trade-off between the performance and robustness of the closed-loop system. An optimization problem is formulated using the constraint on the input time-delay margin and a cost-function based on mixed L1/H2-norm performance measure. The optimization problem can be efficiently solved using linear/quadratic programming. We note that the framework of this dissertation and the multi-loop problem formulation of navigation and control of autonomous systems provide suitable synthesis and analysis tools for autonomous cyber-physical systems (CPSs), including self-driving cars, unmanned aerial vehicles (UAVs), and industrial/medical robots, to name just a few. The SD design facilitates the implementation of control laws on digital computers in CPSs, where the input/output signals are available at discrete time instances with different sampling rates.","abstract_has_math":false,"creators":["Jafarnejadsani, Hamidreza"],"institution":"University of Illinois at Urbana-Champaign","degree_name":"Ph.D.","degree_level":"Dissertation","degree_discipline":"Mechanical Engineering","degree_department":null,"school":null,"contributors":["Hovakimyan, Naira","Sha, Lui","Voulgaris, Petros","Salapaka, Srinivasa"],"advisors":[],"committee_chairs":[],"committee_members":[],"year":2019,"date_issued":"2019-02-07T20:35:58Z","date_published":"2019-02-07T20:35:58Z","updated_at":"2026-07-22T22:24:42Z","subjects":["cyber-physical security","sampled-data systems","multi-level multirate control","L1 adaptive output-feedback control","uncertain multi-input multi-output systems","non-minimum phase systems","zero-dynamics attack","filter optimization"],"languages":["en"],"rights":["Copyright 2018 Hamidreza Jafarnejadsani"],"rights_urls":[],"identifier_entries":[]},"links":{"outbound_url":"http://hdl.handle.net/2142/102798","outbound_label":"Handle","outbound_source":"dc:identifier"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor","label":"Contributor","values":["Hovakimyan, Naira","Sha, Lui","Voulgaris, Petros","Salapaka, Srinivasa"]},{"key":"dc:creator","label":"Author","values":["Jafarnejadsani, Hamidreza"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date","label":"Dc Date","values":["2019-02-07T20:35:58Z","2021-02-08T10:15:25Z","2018-11-21","2018-12"]},{"key":"dc:type","label":"Dc Type","values":["text"]},{"key":"thesis:degree_discipline","label":"Discipline","values":["Mechanical Engineering"]},{"key":"thesis:degree_level","label":"Degree Level","values":["Dissertation"]},{"key":"thesis:degree_name","label":"Degree Name","values":["Ph.D."]},{"key":"thesis:institution_name","label":"Thesis Institution Name","values":["University of Illinois at Urbana-Champaign"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["cyber-physical security","sampled-data systems","multi-level multirate control","L1 adaptive output-feedback control","uncertain multi-input multi-output systems","non-minimum phase systems","zero-dynamics attack","filter optimization"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:language","label":"Dc Language","values":["en"]},{"key":"dc:rights","label":"Dc Rights","values":["Copyright 2018 Hamidreza Jafarnejadsani"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier","label":"Identifier","values":["http://hdl.handle.net/2142/102798"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description","label":"Description","values":["This dissertation extends the L1 adaptive control theory to sampled-data (SD) framework. Multi-input multi-output non-square (underactuated) systems are considered with different sampling rates for inputs and outputs. The sampled-data framework allows to address non-minimum phase systems, subject to less restrictive assumptions as compared to continuous time framework. It is shown that the closed-loop system can recover the response of a continuous-time reference system as the sampling time of the SD controller tends to zero. In this thesis, the L1 sampled data adaptive controller is integrated with the Simplex fault-tolerant architecture for resilient control of cyber-physical systems (CPSs). Detection and mitigation of zero-dynamics attacks are addressed and validated in flight tests of a quadrotor in Intelligent Robotics Laboratory of UIUC. The experiments show that the multirate L1 controller can e effectively detect stealthy zero-dynamics attacks and recover the stability of the perturbed system, where the single-rate conventional L1 adaptive controller fails. From the perspective of applications, the dissertation considers navigation and control of autonomous vehicles and proposes a two-loop framework, in which the high-level reference commands are limited by a saturation function, while the low-level controller tracks the reference by compensating for disturbances and uncertainties. A class of nested, uncertain, multi-input multi-output (MIMO) systems subject to reference command saturation, possibly with non-minimum phase zeros, is considered. Robust stability and performance of the overall closed-loop system with command saturation and multirate L1 adaptive controller are analyzed. Finally, a systematic analysis and synthesis method is proposed for the optimal design of filters in the L1 adaptive output-feedback structure, where the lowpass filter is the key to the trade-off between the performance and robustness of the closed-loop system. An optimization problem is formulated using the constraint on the input time-delay margin and a cost-function based on mixed L1/H2-norm performance measure. The optimization problem can be efficiently solved using linear/quadratic programming. We note that the framework of this dissertation and the multi-loop problem formulation of navigation and control of autonomous systems provide suitable synthesis and analysis tools for autonomous cyber-physical systems (CPSs), including self-driving cars, unmanned aerial vehicles (UAVs), and industrial/medical robots, to name just a few. The SD design facilitates the implementation of control laws on digital computers in CPSs, where the input/output signals are available at discrete time instances with different sampling rates.","Submission published under a 24 month embargo labeled 'U of I Access', the embargo will last until 2020-12-01","The student, Hamidreza Jafarnejadsani, accepted the attached license on 2018-11-19 at 12:24.","The student, Hamidreza Jafarnejadsani, submitted this Dissertation for approval on 2018-11-19 at 13:00.","This Dissertation was approved for publication on 2018-11-21 at 10:30.","DSpace SAF Submission Ingestion Package generated from Vireo submission #13099 on 2019-02-07 at 14:17:36","Made available in DSpace on 2019-02-07T20:35:58Z (GMT). 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Multi-input multi-output non-square (underactuated) systems are considered with different sampling rates for inputs and outputs. The sampled-data framework allows to address non-minimum phase systems, subject to less restrictive assumptions as compared to continuous time framework. It is shown that the closed-loop system can recover the response of a continuous-time reference system as the sampling time of the SD controller tends to zero. In this thesis, the L1 sampled data adaptive controller is integrated with the Simplex fault-tolerant architecture for resilient control of cyber-physical systems (CPSs). Detection and mitigation of zero-dynamics attacks are addressed and validated in flight tests of a quadrotor in Intelligent Robotics Laboratory of UIUC. The experiments show that the multirate L1 controller can e effectively detect stealthy zero-dynamics attacks and recover the stability of the perturbed system, where the single-rate conventional L1 adaptive controller fails. From the perspective of applications, the dissertation considers navigation and control of autonomous vehicles and proposes a two-loop framework, in which the high-level reference commands are limited by a saturation function, while the low-level controller tracks the reference by compensating for disturbances and uncertainties. A class of nested, uncertain, multi-input multi-output (MIMO) systems subject to reference command saturation, possibly with non-minimum phase zeros, is considered. Robust stability and performance of the overall closed-loop system with command saturation and multirate L1 adaptive controller are analyzed. Finally, a systematic analysis and synthesis method is proposed for the optimal design of filters in the L1 adaptive output-feedback structure, where the lowpass filter is the key to the trade-off between the performance and robustness of the closed-loop system. An optimization problem is formulated using the constraint on the input time-delay margin and a cost-function based on mixed L1/H2-norm performance measure. The optimization problem can be efficiently solved using linear/quadratic programming. We note that the framework of this dissertation and the multi-loop problem formulation of navigation and control of autonomous systems provide suitable synthesis and analysis tools for autonomous cyber-physical systems (CPSs), including self-driving cars, unmanned aerial vehicles (UAVs), and industrial/medical robots, to name just a few. The SD design facilitates the implementation of control laws on digital computers in CPSs, where the input/output signals are available at discrete time instances with different sampling rates.","Submission published under a 24 month embargo labeled 'U of I Access', the embargo will last until 2020-12-01","The student, Hamidreza Jafarnejadsani, accepted the attached license on 2018-11-19 at 12:24.","The student, Hamidreza Jafarnejadsani, submitted this Dissertation for approval on 2018-11-19 at 13:00.","This Dissertation was approved for publication on 2018-11-21 at 10:30.","DSpace SAF Submission Ingestion Package generated from Vireo submission #13099 on 2019-02-07 at 14:17:36","Made available in DSpace on 2019-02-07T20:35:58Z (GMT). No. of bitstreams: 2 JAFARNEJADSANI-DISSERTATION-2018.pdf: 5063483 bytes, checksum: ccbdbdfc53402870c30790cb341e0e6a (MD5) LICENSE.txt: 4221 bytes, checksum: 8f7b049ae365f0eda87fab60e9be56c4 (MD5) Previous issue date: 2018-11-21","Embargo set by: Seth Robbins for item 109822 Lift date: 2021-02-07T20:36:09Z Reason: Author requested U of Illinois access only (OA after 2yrs) in Vireo ETD system","Embargo set by: Seth Robbins for item 109822 Lift date: 2021-02-07T20:39:46Z Reason: Author requested U of Illinois access only (OA after 2yrs) in Vireo ETD system","Embargo set by: Seth Robbins for item 109822 Lift date: 2021-02-07T20:44:35Z Reason: Author requested U of Illinois access only (OA after 2yrs) in Vireo ETD system","U of I Only Restriction Lifted for Item 109822 on 2021-02-08T10:15:25Z."],"dc:format":["application/pdf"],"dc:identifier":["http://hdl.handle.net/2142/102798"],"dc:language":["en"],"dc:rights":["Copyright 2018 Hamidreza Jafarnejadsani"],"dc:subject":["cyber-physical security","sampled-data systems","multi-level multirate control","L1 adaptive output-feedback control","uncertain multi-input multi-output systems","non-minimum phase systems","zero-dynamics attack","filter optimization"],"dc:title":["Robust adaptive sampled-data control design for MIMO systems: Applications in cyber-physical security"],"dc:type":["text"],"thesis:degree_discipline":["Mechanical Engineering"],"thesis:degree_level":["Dissertation"],"thesis:degree_name":["Ph.D."],"thesis:institution_name":["University of Illinois at Urbana-Champaign"]},"updated_at":"2026-07-22T22:24:42Z"}