{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/matrix-scheduling-of-qsr-dissipative-systems","title":"Matrix-Scheduling of QSR-Dissipative Systems","arxiv_id":"2411.12955","date":"2024-11-20","proceeding":null,"authors":["Sepehr Moalemi","James Richard Forbes"],"abstract":"This paper considers gain-scheduling of QSR-dissipative subsystems using scheduling matrices. The corresponding QSR-dissipative properties of the overall matrix-gain-scheduled system, which depends on the QSR properties of the subsystems scheduled, are explicitly derived. The use of scheduling matrices is a generalization of the scalar scheduling signals used in the literature, and allows for greater design freedom when scheduling systems, such as in the case of gain-scheduled control. Furthermore, this work extends the existing gain-scheduling results to a broader class of QSR-dissipative systems. The matrix-scheduling of important special cases, such as passive, input strictly passive, output strictly passive, finite L2 gain, very strictly passive, and conic systems are presented. The proposed gain-scheduling architecture is used in the context of controlling a planar three-link robot subject to model uncertainty. A novel control synthesis technique is used to design QSR-dissipative subcontrollers that are gain-scheduled using scheduling matrices. Numerical simulation results highlight the greater design freedom of scheduling matrices, leading to improved performance.","url_abs":"https://arxiv.org/abs/2411.12955v1","url_pdf":"https://arxiv.org/pdf/2411.12955v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"matrix-scheduling-of-qsr-dissipative-systems","repo_url":"https://github.com/decargroup/matrix_scheduling_qsr_dissipative_systems","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":0,"framework":"none","reach":null}],"tasks":[{"task_slug":"scheduling","task_name":"Scheduling"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"syntology_url":null,"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}