Biography
Fernando Castaños was born in Mexico City on March 1976. He got the bachelor's degree in Electric and
Electronic Engineering from Universidad Nacional Autonoma de México
(UNAM). He got the master degree in Control Engineering
from UNAM and from Université Paris-Sud XI (UPS). He is
currently working towards the Ph.D degree under the supervision of
Romeo Ortega.
A short CV is also available in english, french
and spanish.
Research interests
Passivity based control, nonlinear control, port Hamiltonian systems, electric circuits,
robust control and variable structure systems.
(Very) Short Introduction
Control engineering*
Control theory is a field that originates from electrical and mechanical engeneering
and mathematics. The field has also found its way in other technical areas such as biology,
especially in neurobiology and physiology, medical technology, agricultural science,
economics and computer science.
Control theory is concerned with problems associated with the dynamic behavior of systems. These
problems are about open systems, that is, systems with inputs and outputs, systems interacting with
their environment. Some important problems driving modern day research in systems and control theory are:
- The modeling problem: The search for suitable concepts and mathematical tools to describe dynamic systems
in interaction with their environment.
- The identification problem: Developing algorithms for determining dynamic models on the basis of observations
of signals.
- The filtering problem: Reconstructing the behavior of a variable from observations of signals subject to noise.
- The control problem: Devising principles and algorithms to obtain a good controller or feedback processor.
The latter problem is the link with control engineering, the applied side of the research.
| The control problem (classical view) |
 |
| Based on the obtained measurements, how to calculate the inputs that will drive the system as desired? |
Swing-up and stabilization of an inverted pendulum
Undergraduate thesis
An experimental setup was built for swinging up and stabilizing the well-known inverted
pendulum (click on the images below to download the videos). A part of the work
consisted in writing the drivers for the DAC and ADC cards and interfacing them with
Matlab's Real-Time Workshop.
Swing up
Stabilization
To swing up the pendulum, a heuristic algorithm that forced the pendulum to oscillate
at its resonance frequency was used. Once the pendulum reached a neighborhood of
the upright position, the controller switched to a stabilization algorithm consisting
of an observer and a friction estimator cascaded with a linear quadratic regulator.
The thesis was supervised by
Rolando Carrera.
Sliding modes with H∞ criterion
Master thesis (UNAM)
It is well known that sliding modes are robust with regard to matched
perturbations and model uncertainties, that is, perturbations that are coupled to the
control action. On the other hand, sliding modes suffer from
- an initial period of time (called the reaching phase) in which the system's
robustness is not guarantied
- sensitivity to unmatched perturbations
- full state measurement is required
- the so-called chattering phenomenon
The first problem can be solved using integral sliding modes, which has the
additional advantage of furnishing extra design parameters. The extra freedom can then
be used to minimize, using an H∞ criterion, the impact of the
unmatched perturbations and uncertainties [CF06a,
CXF06].
By constructing a dynamic surface, it is some times possible to enforce a desired
sliding motion using only partial state information
[CF04b], regardless of any matched uncertainty. This
addresses the third problem. In the presence of unmatched uncertainties, one can also
design the dynamic surface using an H∞ criterion.
The machinery developed fits nicely in a decentralized control scenario
[CF05a].
The thesis was supervised by Leonid Fridman.
Passivity based control
This section is under construction...
Research visits
- David Hill and Jun Zhao
-
Nov 12 – Dic 10, 2008
Australian National University | Canberra, Australia
- Bayu Jayawardhana, Arjan van der Schaft and Jacquelien Scherpen
-
Oct 27 – 31, 2008
University of Groningen | Groningen, The Netherlands
- Ravi Banavar and Arun Mahindrakar
-
Oct 8 – Nov 4, 2007
Indian Institute of Technology, Bombay and Madras |
Mumbai and Chennai, India
- Jacquelien Scherpen and Dimitri Jeltsema
-
Oct 23 – 27, 2006
Delft University of Technology | Delft, The Netherlands
- Arjan van der Schaft
-
Oct 17 – 20, 2006
University of Groningen | Groningen, The Netherlands
Publications
Journal Papers
-
[CJOGC09]
-
Fernando Castaños, Bayu Jayawardhana, Romeo Ortega, and Eloísa
García-Canseco.
Proportional plus integral control for set-point regulation of a
class of nonlinear RLC circuits.
Circuits Syst. Signal Process., 28:609 - 623, August 2009.
[ .pdf ]
-
[CO09]
-
Fernando Castaños and Romeo Ortega.
Energy-balancing passivity-based control is equivalent to dissipation
and output invariance.
Systems and Control Letters, 58:553 - 560, August 2009.
[ .pdf ]
-
[COvdSA09]
-
Fernando Castaños, Romeo Ortega, Arjan J. van der Schaft, and Alessandro
Astolfi.
Asymptotic stabilization via control by interconnection of
port-Hamiltonian systems.
Automatica, 45:1611 - 1618, July 2009.
[ .pdf ]
-
[OvdSCA08]
-
Romeo Ortega, Arjan J. van der Schaft, Fernando Castaños, and Alessandro
Astolfi.
Control by interconnection and standard passivity-based control of
port-Hamiltonian systems.
IEEE Trans. Autom. Control, 53:2527 - 2542, December 2008.
[ .pdf ]
-
[SFSC08]
-
Eugenii Shustin, Leonid Fridman, Emilia Shustin, and Fernando Castaños.
Robust semiglobal stabilization of the second order system by relay
feedback with an uncertain variable time delay.
SIAM Journal on Control and Optimization, 47:196 - 217,
January 2008.
[ .pdf ]
-
[JOGCC07]
-
Bayu Jayawardhana, Romeo Ortega, Eloísa García-Canseco, and Fernando
Castaños.
Passivity of nonlinear incremental systems: Application to PI
stabilization of nonlinear RLC circuits.
Systems and Control Letters, 56:618 - 622, September 2007.
[ .pdf ]
-
[CF06a]
-
Fernando Castaños and Leonid Fridman.
Analysis and design of integral sliding manifolds for systems with
unmatched perturbations.
IEEE Trans. Automat. Contr., 51:853 - 858, May 2006.
[ .pdf ]
-
[OFC05]
-
Yuri Orlov, Leonid Fridman, and Fernando Castaños.
Discussion on: “dynamic sliding mode control for a class of systems
with mismatched uncertainty”.
European Journal of Control, pages 11-18, 2005.
[ .pdf ]
Book chapters
-
[CXF06]
-
Fernando Castaños, Jian-Xin Xu, and Leonid Fridman.
Integral sliding modes for systems with matched and unmatched
uncertainties.
In Christopher Edwards, Enric Fossas Colet, and Leonid Fridman,
editors, Advances in Variable Structure and Sliding Mode Control,
chapter 11, pages 227 - 246. Springer-Verlag, Berlin, 2006.
Conference proceedings
-
[SFSC08b]
-
Eugenii Shustin, Leonid Fridman, Emilia Shustin, and Fernando Castaños.
Robust semiglobal stabilization of the second order system by relay
feedback with an uncertain variable time delay.
In Proc. Conference on Decision and Control, pages 2716 -
2721, Cancún, México, December 2008.
[ .pdf ]
-
[COvdSA08]
-
Fernando Castaños, Romeo Ortega, Arjan J. van der Schaft, and Alessandro
Astolfi.
Asymptotic stabilization via control by interconnection of
port-hamiltonian systems.
In Congreso Latinoamericano de Control Automático,
Mérida, Venezuela, November 2008.
[ .pdf ]
-
[CJOGC08]
-
Fernando Castaños, Bayu Jayawardhana, Romeo Ortega, and Eloísa
García-Canseco.
A class of nonlinear RLC circuits globally stabilizable by
proportional plus integral controllers.
In Proc. of the IFAC World Congress, pages 6202 - 6207, Seoul,
Korea, June 2008.
[ .pdf ]
-
[OvdSCA07]
-
Romeo Ortega, Arjan J. van der Schaft, Fernando Castaños, and Alessandro
Astolfi.
Control by (state-modulated) interconnection of port-Hamiltonian
systems.
In Proc. IFAC Symposium on Nonlinear Control Systems, pages 47
- 54, Pretoria, South Africa, August 2007.
[ .pdf ]
-
[JOGCC06]
-
Bayu Jayawardhana, Romeo Ortega, Eloísa García-Canseco, and Fernando
Castaños.
Passivity of nonlinear incremental systems: Application to PI
stabilization of nonlinear RLC circuits.
In Proc. Conference on Decision and Control, page ThIP2.17, San
Diego, December 2006.
[ .pdf ]
-
[CF06b]
-
Fernando Castaños and Leonid Fridman.
Design of integral sliding manifolds for multi-model uncertain
systems via LMI.
In Proc. of the Variable Structure Systems Workshop, pages
63-67, Alghero, Italy, June 2006.
[ .pdf ]
-
[CF05b]
-
Fernando Castaños and Leonid Fridman.
Robust design criteria for integral sliding surfaces.
In Proc. Conference on Decision and Control, and European
Control Conference, pages 1976-1981, Seville, Spain, December 2005.
[ .pdf ]
-
[CF05a]
-
Fernando Castaños and Leonid Fridman.
Integral sliding surface design using an H∞
criterion for decentralized control.
In Proc. of the IFAC World Congress, pages Th-A09-T0/2,
Prague, July 2005.
[ .pdf ]
-
[CF04b]
-
Fernando Castaños and Leonid Fridman.
Measurement sliding mode-H∞ control with
application to decentralized systems.
In Proc. of the Variable Structure Systems Workshop, Vilanova i
la Geltrú, Spain, September 2004.
[ .pdf ]
-
[FCMK04]
-
Leonid Fridman, Fernando Castaños, N. M'Sirdi, and Khraef.
Decomposition and robustness properties of integral sliding mode
controllers.
In Proc. of the Variable Structure Systems Workshop, Vilanova i
la Geltrú, Spain, September 2004.
[ .pdf ]
-
[CF04a]
-
Fernando Castaños and Leonid Fridman.
Control descentralizado por modos deslizantes.
In Congreso Anual de la AMCA, ISBN: 970-32-2137-8, pages
253-258, México, D.F., 2004.
[ .pdf ]
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