BEGIN:VCALENDAR
VERSION:2.0
PRODID:-//Date iCal//NONSGML kigkonsult.se iCalcreator 2.20.2//
METHOD:PUBLISH
X-WR-CALNAME;VALUE=TEXT:Eventi DIAG
BEGIN:VTIMEZONE
TZID:Europe/Paris
BEGIN:STANDARD
DTSTART:20191027T030000
TZOFFSETFROM:+0200
TZOFFSETTO:+0100
TZNAME:CET
END:STANDARD
BEGIN:DAYLIGHT
DTSTART:20200329T020000
TZOFFSETFROM:+0100
TZOFFSETTO:+0200
TZNAME:CEST
END:DAYLIGHT
END:VTIMEZONE
BEGIN:VEVENT
UID:calendar.18954.field_data.0@www.diag.uniroma1.it
DTSTAMP:20260417T144631Z
CREATED:20191119T095547Z
DESCRIPTION:In this talk I provide the analytic solution of an important op
 en problem in control theory. Specifically\, I provide the analytic proced
 ure to obtain the state observability of nonlinear systems in presence of 
 multiple unknown inputs. This problem\, called the Unknown Input Observabi
 lity (UIO) problem\, was introduced in the seventies. As for the observabi
 lity rank condition (that is the analytic procedure to obtain the observab
 ility in absence of unknown inputs)\, the analytic solution of the nonline
 ar UIO problem is based on the computation of the observable codistributio
 n by a recursive and convergent algorithm. As in the standard case of only
  known inputs\, the observable codistribution is obtained by recursively c
 omputing the Lie derivatives along the vector fields that characterize the
  dynamics. However\, in correspondence of the unknown inputs\, the corresp
 onding vector fields must be suitably rescaled. Additionally\, the Lie der
 ivatives must also be computed along a new set of vector fields that are o
 btained by recursively performing suitable Lie bracketing of the vector fi
 elds that define the dynamics. The analytic derivations and all the proofs
  necessary to analytically derive the algorithm and its convergence proper
 ties and to prove their general validity are very complex and they are bas
 ed on new concepts borrowed from theoretical physics (specifically\, from 
 the standard model of particle physics and from the theory of general rela
 tivity). In practice\, these proofs requires the introduction of the Group
  of Invariance of Observability and the twofold role of time in system the
 ory. In the seminar\, I only provide the strategy of the proof and an intu
 itive description of the above concepts.The analytic solution is illustrat
 ed by checking the observability of several nonlinear systems driven by mu
 ltiple known inputs and multiple unknown inputs\, ranging from planar robo
 tics up to advanced navigation systems in 3D that can be important also in
  the framework of neuroscience.
DTSTART;TZID=Europe/Paris:20191129T140000
DTEND;TZID=Europe/Paris:20191129T140000
LAST-MODIFIED:20220404T120141Z
LOCATION:Aula A5
SUMMARY:Nonlinear Unknown Input Observability: the General Analytic Solutio
 n - Agostino Martinelli (INRIA Grenoble\, France)
URL;TYPE=URI:https://www.diag.uniroma1.it/node/18954
END:VEVENT
END:VCALENDAR