RORPack for Matlab and Python

RORPack ("Robust Output Regulation Package") is an open source toolbox for robust output tracking and disturbance rejection control of linear (approximated) controlled PDE and ODE systems. The package includes functionality for automated controller construction, closed-loop simulation, and visualisation of results, as well as a number of example files on control of linear PDE systems (1D and 2D heat equations, wave equations, etc.).

RORPack is available as a Matlab toolbox and a Python library. The Python library was released in 2019, and the Matlab version in 2021. Both versions are available on Github, and they include documentation in PDF format.

Article simulation codes

Here you can find links to the published simulation codes from the scientific articles of the research group. If you would like to suggest publishing of some particular simulation codes, let us know!

Preprints of all the articles can be found on the page “Publications”.

Robust observer-based controller design for boundary controlled diffusion equations on 1D and 2D spatial domains (Matlab, 2022)

From the article “On robust regulation of PDEs: from abstract methods to PDE controllers” by Lassi Paunonen and Jukka-Pekka Humaloja in Proceedings of the 61st IEEE Conference on Decision and Control, 2022.

Simulation code download (GitHub): https://github.com/lassipau/CDC22-Matlab-simulations

Virtual Decomposition Control with observer design for a 2-DOF robotic arm (Matlab/Simulink, 2021)

From the article “Decentralized observer design for virtual decomposition control” by J.-P. Humaloja, J. Koivumäki, L. Paunonen, and J. Mattila in IEEE Transactions on Automatic Control, 2022.

Robust regulation of a boundary controlled Timoshenko beam model (Matlab, 2021)

From the article “A Lyapunov approach to robust regulation of distributed port-Hamiltonian systems” by L. Paunonen, Y. Le Gorrec, and H. Ramirez in IEEE Transactions on Automatic Control, 2022.

Reduced order internal model control of an Euler-Bernoulli beam with Kelvin-Voigt damping (Matlab, 2021)

From the article “A Reduced Order Controller for Output Tracking of a Kelvin–Voigt Beam” by L. Paunonen and D. Phan in Proceedings of 24th International Symposium on Mathematical Theory of Networks and Systems (cancelled), 2021.

Approximate robust output regulation of a boundary controlled 2D wave equation (Matlab, 2019)

From the article “Approximate robust output regulation of boundary control systems” by J.-P. Humaloja, M. Kurula and L. Paunonen in IEEE Transactions on Automatic Control, 64(6):2210-2223, 2019.