• The Inria's Research Teams produce an annual Activity Report presenting their activities and their results of the year. These reports include the team members, the scientific program, the software developed by the team and the new results of the year. The report also describes the grants, contracts and the activities of dissemination and teaching. Finally, the report gives the list of publications of the year.

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## Section: Partnerships and Cooperations

### European Initiatives

#### Collaborations in European Programs, except FP7

• Program: GDRI (European research network founded by CNRS)

• Project acronym: DelSys

• Project title: Delay Systems

• Duration: 2011-2015

• Coordinator: Silviu Iulian Niculescu

• Other partners: GIPSA-Lab and LAAS France, Ancona University Italy, Czech Technical University in Prague Czech Republic, Kent University Great-Britain, KTH Stockholm Sweden and KU Leuven Belgium.

• Abstract: the aim of this GDRI is to bring together the main European teams which work in the fiels of Delay systems. This network meets once a year.

• Program: PHC Aurora (Norway)

• Project acronym: 28920SB

• Project title: Connections between constrained control law synthesis and theory of positive dynamical systems

• Duration: 2013

• Other partners: NTNU Trondheim

• Abstract: The project is constructed with two main scientific objectives: a) The (controlled) invariant set computation and their use in the stability analysis The main objective is the construction of invariant sets of reduced complexity in terms of generators (for example vertices in polyhedral/zonotopic sets). Such invariant sets are related to the positivity by the invariance of the positive orthant of a dual (comparison) state space. The existence of invariant sets will be subsequently linked through this comparison systems with the stability analysis of complex (large scale, interconnected, hybrid, delay-affected or nonlinear) dynamics. The results will be compared with the state of the art methods as for example those related to the feasible set description in Model Predictive Control related problems. b) Control design for constrained dynamical systems Once the invariance tools with manageable complexity are available, the respective set will be employed in the synthesis procedure as Lyapunov level sets. Practically this will lead to polyhedral Lyapunov functions type of constructions for which interpolation based techniques have recently been shown to be effective. Further, the robustness and the performance of the resulting closed-loop dynamics need to be adjusted in accordance with the choice of the interpolation factor. These control design degrees of freedom need to be adjusted with respect to positiveness or monotonicity requirements.

• Program: PHC Pessoa (Portugal)

• Project acronym: 28750QA

• Project title: Robust Distributed Model Predictive Control of Medium- and Large- Scale Systems

• Duration: 2013-2014

• Other partners: Sorin Olaru

• Program: PHC Brancusi (Romania)

• Project acronym: 28705PF

• Project title: Adaptive and predictive control of bioprocesses (modelling, identification and control of interconnected bioprocesses)

• Duration: 2013-2014

• Other partners: Sorin Olaru

• Program: PHC Parrot

• Project acronym: CASCAC

• Project title: Computer Algebra, Symbolic Computation, and Automatic Control

• Duration: 2013 - 2014

• Other partners: Institute of Cybernetics, University of Tallinn

• Abstract: The CASCAC project is at the interfaces of control theory, computer algebra and software engineering. The goals of the project are: 1. Develop new theoretical results on nonlinear control systems defined by functional equations (e.g., ordinary differential equations, partial differential equations, differential time-delay equations, partial difference equations). 2. Implement them on dedicated softwares developed in the computer algebra system Mathematica. In particular, Mathematica versions of the OreModules and OreMorphisms packages will be developed. 3. Develop an interface between the C library BLAD (http://www.lifl.fr/~boulier/pmwiki/pmwiki.php?n=Main.BLAD ) $-$ dedicated to differential algebra techniques $-$ and Mathematica. This interface will allow one to have access to differential elimination techniques in Mathematica and to use them in decision methods for nonlinear control theory. 4. Co-supervise the Master thesis of Kristina Halturina with Prof. Ülle Kotta on constructive aspects of differential flatness and its applications to control theory (e.g., tracking, motion planning).

• Program: PHC Rila (Bulgaria)

• Project acronym: 29401YJ

• Project title: Robust Distributed Model Predictive Control of Medium- and Large- Scale Systems

• Duration: 2013-2014

• Other partners: Bulgarian Academy of Science

• Abstract: The project intends to address the control design of large scale dynamical systems with an emphasis on distributed predictive control strategies. There are two points of view with respect to the control synthesis in this framework: a. avoid the use of a global prediction model in the receding horizon optimal control of the subsystems and privilege the use of a coordination level in the decision process; b. consider the distributed synthesis for a network of discrete-time constrained linear systems without central coordinator. In the present project we intend to contribute to both of these directions by: a. Prediction of the interactions in between subsystems in a decomposition-coordination scheme. This can be done by imposing a reduced set of constraints for the MPC problems at the lower levels. b. With respect to the MPC design in the absence of coordination one of the issues will be the definition of appropriate terminal sets, ensuring invariance properties or at least recursive feasibility for the global functioning. We will investigate the construction of terminal set for a stabilizing centralized MPC decomposable in the form of a cross product of sets in each subsystem state space. An interesting idea on this direction was presented recently by the participants in this project.

#### Collaborations with Major European Organizations

• Partner 1:University of l'Aquila, Italy

• Nonlinear delay systems interconnected with a differential-difference equation.

• Partner 2: RWTH Aachen University, Germany

• Mathematical systems theory, control theory, symbolic computation

• Partner 3: Bilkent University, Turkey

• Control of linear and nonlinear systems with delays, medical applications

• Partner 4: Tel Aviv University, Israel

• Stability analysis of nonlinear Partial Differential Equations