A Multirate Adaptive Control for MIMO Systems with Application to Cyber-Physical Security

Hamidreza Jafarnejadsani, Hanmin Lee, Naira Hovakimyan, Petros Voulgaris

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

11 Scopus citations

Abstract

This paper proposes a multirate output-feedback controller for multi-input multi-output (MIMO) systems, possibly with non-minimum-phase zeros, using the mathcal L- 1 adaptive control structure. The analysis of stability and robustness of the sampled-data controller reveals that under certain conditions the performance of a continuous-time reference system is uniformly recovered as the sampling time goes to zero. The controller is designed for detection and mitigation of actuator attacks. By considering a multirate formulation, stealthy zero-dynamics attacks become detectable. The experimental results from the flight test of a small quadtotor are provided. The tests show that the multirate mathcal L- 1 controller can effectively detect the zero-dynamics actuator attack and recover stability of the quadrotor.

Original languageEnglish
Title of host publication2018 IEEE Conference on Decision and Control, CDC 2018
Pages6620-6625
Number of pages6
ISBN (Electronic)9781538613955
DOIs
StatePublished - 2 Jul 2018
Event57th IEEE Conference on Decision and Control, CDC 2018 - Miami, United States
Duration: 17 Dec 201819 Dec 2018

Publication series

NameProceedings of the IEEE Conference on Decision and Control
Volume2018-December
ISSN (Print)0743-1546
ISSN (Electronic)2576-2370

Conference

Conference57th IEEE Conference on Decision and Control, CDC 2018
Country/TerritoryUnited States
CityMiami
Period17/12/1819/12/18

Fingerprint

Dive into the research topics of 'A Multirate Adaptive Control for MIMO Systems with Application to Cyber-Physical Security'. Together they form a unique fingerprint.

Cite this