Model-free plant tuning

Franco Blanchini, Gianfranco Fenu, Giulia Giordano, Felice Andrea Pellegrino

Research output: Contribution to journalArticleScientificpeer-review

10 Citations (Scopus)


Given a static plant described by a differen-tiable input-output function, which is completely unknown, but whose Jacobian takes values in a known polytope in the matrix space, this paper considers the problem of tuning (i.e., driving to a desired value) the output, by suitably choosing the input. It is shown that, if the polytope is robustly nonsingular (or has full rank, in the nonsquare case), then a suitable tuning scheme drives the output to the desired point. The proof exploits a Lyapunov-like function and applies a well-known game-theoretic result, concerning the existence of a saddle point for a min-max zero-sum game. When the plant output is represented in an implicit form, it is shown that the same result can be obtained, resorting to a different Lyapunov-like function. The case in which proper input or output constraints must be enforced during the transient is considered as well. Some application examples are proposed to show the effectiveness of the approach.

Original languageEnglish
Article number7586127
Pages (from-to)2633-2634
Number of pages2
JournalIEEE Transactions on Automatic Control
Issue number6
Publication statusPublished - 1 Jun 2017
Externally publishedYes


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