Publications

Under review

Controlling variance in crop growth using variable rate application: Experiments with iceberg lettuce, W. Rohde, F. Forni. Precision Agriculture.

Relaxation systems, R. Sepulchre, T. Chaffey, F. Forni, Y. Huo. CDC2024.

Passive iFIR filters for data-driven control, Z. Wang, F. Forni. L-CSS and CDC for the IEEE Control Systems Letters. arXiv

Neuromorphic Control of a Pendulum, R. Schmetterling, F. Forni, A. Franci, R. Sepulchre. L-CSS and CDC for the IEEE Control Systems Letters. arXiv

Virtual model control for compliant reaching under uncertainties,  Y. Zhang, D. Larby, F. Iida, F. Forni. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2024). Video

Using Augmented Reality in Human-Robot Assembly: A Comparative Study of Eye-Gaze and Mid-Air Pointing Methods, S.K. Tadeja, T. Zhou, M. Capponi, K.T. Walas, T. Bohné, F. Forni. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2024). 

Stable Virtual Reference Feedback Tuning with Passive iFIR Controllers, Z. Wang, F. Forni. Abstract to 26th International Symposium on Mathematical Theory of Networks and Systems (MTNS2024)

An optical brain-machine interface reveals a causal role of posterior parietal cortex in goal-directed navigation, E. Sorrell, D.E. Wilson, M.E. Rule, H. Yang, F. Forni; C.D. Harvey; T. O'Leary. Neuron

Differential positivity characterizes one-dimensional normally hyperbolic attractors, F. Forni, A. Mauroy, R. Sepulchre. arXiv

2024

Integral Controlled Lagrangians for underactuated mechanical systems subject to position-dependent matched disturbances,  E. Franco, F. Forni. IEEE Control Systems Letters (L-CSS) and CDC2024.

K-monotonicity and feedback synthesis for incrementally stable networks, Y. Kawano, F. Forni. IEEE Transaction on Automatic Control. IEEE Transaction on Automatic Control. arXiv

On Feedback Error Learning for Adaptive Soft Robot Control, N. Veronese, A. Albini, Y. Yao, P. Rocco, P. Maiolino, F. Forni. RoboSoft 2024.

2023

Polyhedral Estimation of L1 and L∞ Incremental Gains of Nonlinear Systems, D. Kousoulidis, F. Forni, Systems & Control Letters. arXiv 

Leveraging Morphological Computation for Controlling Soft Robots, H. Hauser, T. Nanayakkara, F. Forni, IEEE Control System Magazine.

Dominant Mixed Feedback Design for Stable Oscillations, W. Che, F. Forni, IEEE Transaction on Automatic Control. arXiv

Graphical nonlinear system analysis, T. Chaffey, F. Forni, R.Sepulchre, IEEE Transaction on Automatic Control. arXiv, 

Lettuce modelling for growth control in precision agriculture, W. Rohde, F.Forni, ECC2023 and European Journal of Control. arXiv

A Generalized Approach to Impedance Control Design for Robotic Minimally Invasive Surgery, D. Larby, F. Forni, IFAC World Congress 2023. arXiv

2022

A New Power Law Linking the Speed to the Geometry of Tool-Tip Orientation in Teleoperation of a Robot-Assisted Surgical System, O. Zruya, Y. Sharon, H. Kossowsky, F. Forni, A. Geftler, I. Nisky, IEEE Robotics and Automation Letters (and IROS 2022). bioRxiv

Analog cross coupled controller for oscillations: modeling and design via dominant system theory, W. Che, T.L. Chaffey, F. Forni, CDC2022. arXiv

A Passivity Preserving H-infinity Synthesis Technique for Robot Control, D.E. Larby, F. Forni, CDC2022. arXiv

On the incremental form of dissipativity R. Sepulchre, T. Chaffey, F. Forni, MTNS 2022. arXiv

Loop Shaping with Scaled Relative Graphs T. Chaffey, F. Forni, R. Sepulchre, MTNS 2022. arXiv

2021

Dissipativity analysis of negative resistance circuits, F.A. Miranda-Villatoro, F. Forni, R. Sepulchre, Automatica. arXiv

Scaled relative graphs for system analysis, T. Chaffey, F. Forni, R.Sepulchre, CDC2021. arXiv

Shaping oscillations via mixed feedback, W. Che, F. Forni, CDC2021. arXiv

Polyhedral Lyapunov functions with fixed complexity, D. Kousoulidis, F. Forni, CDC 2021. arXiv 

Model reduction of dominant feedback systems, A. Padoan, F. Forni, R. Sepulchre, Automatica. PDF

Balanced truncation for model reduction of biological oscillators, A. Padoan, F. Forni, R. Sepulchre, Biological Cybernetics.

A tunable mixed feedback oscillator, W. Che, F. Forni, ECC 2021. arXiv

Dendritic trafficking: synaptic scaling and structural plasticity, S. Aljaberi, T. O’Leary, F. Forni, ECC 2021. arXiv

2020

Global and local synaptic regulation determine the stability of homeostatic plasticity, S.  Aljaberi, A. Bellotti, T. O’Leary,  F. Forni, MTNS 2020. arXiv

Scalable Control Design for K-positive Linear Systems, Y. Kawano, F. Forni, MTNS 2020. arXiv

Model reduction by balanced truncation for dominant Lure systems, A. Padoan, F. Forni, and R. Sepulchre, IFAC 2020. arXiv

An Optimization Approach to Verifying and Synthesizing K-cooperative Systems, D. Kousoulidis, F. Forni, IFAC 2020. arXiv

Antithetic integral feedback for the robust control of monostable and oscillatory biomolecular circuits, N. Olsman, F. Forni, IFAC 2020. bioRxiv, arXiv

2019

Qualitative behavior and robustness of dendritic trafficking, S. Aljaberi, T. O'Leary, F. Forni, CDC 2019. arXiv

Finding cones for K-cooperative systems, D. Kousoulidis, F. Forni, CDC 2019. arXiv

The H infinity,p norm as the differential gain of a p-dominant system, A. Padoan, F. Forni, R. Sepulchre, CDC2019. arXiv

Dominance margins for feedback systems, A. Padoan, F. Forni, R. Sepulchre, Nolcos 2019. arXiv

2018

Differential dissipativity theory for dominance analysis. F. Forni, R. Sepulchre. IEEE Transaction on Automatic Control. arXiv

Analysis of Lur'e dominant systems in the frequency domain. F.A. Miranda-Villatoro, F. Forni, R. Sepulchre, Automatica. arXiv

Relay-based hybrid control of minimal-order mechanical systems with applications. A. Bisoffi, F. Forni, M. Da Lio, L. Zaccarian, Automatica. PDF

Path-complete p-dominant switching linear systems. G. Berger, F. Forni and R.M. Jungers, 57th IEEE Conference on Decision and Control. arXiv

Differentially passive circuits that switch and oscillate. F.A. Miranda-Villatoro, F. Forni, R. Sepulchre, 2nd Conference on Modelling, Identification and Control of Nonlinear Systems. arXiv

Dominance analysis of linear complementarity systems. F.A. Miranda-Villatoro, F. Forni, R. Sepulchre, 23rd International Symposium on Mathematical Theory of Networks and Systems. arXiv

2017

A dissipativity theorem for p-dominant systems. F. Forni, R. Sepulchre. 56th IEEE Conference on Decision and Control. PDF

Path-complete positivity of switching systems. F. Forni, R. M. Jungers, R. Sepulchre. 20th IFAC World Congress. arXiv

Differential positivity for nonlinear consensus. F. Forni, 9th European Nonlinear Dynamics Conference (ENOC 2017). abstract

2016

Immersion and invariance stabilization of nonlinear systems via virtual and horizontal contraction. L. Wang, F. Forni, R. Ortega, H. Su. IEEE Transactions on Automatic Control. PDF

Differentially positive systems. F. Forni, R. Sepulchre. IEEE Transactions on Automatic Control, 61(2), 346-359. PDF

Global results on reset-induced periodic trajectories of planar systems. A. Bisoffi, F. Forni, M. Da Lio, L. Zaccarian. 15th European Control Conference. PDF

2015

An operator-theoretic approach to differential positivity. A. Mauroy, F. Forni, R. Sepulchre. 54th IEEE Conference on Decision and Control. PDF

Differential positivity on compact sets. F. Forni. 54th IEEE Conference on Decision and Control. PDF

Immersion and invariance stabilization of nonlinear systems: a horizontal contraction approach. L. Wang, F. Forni, R. Ortega, and H. Su. 54th IEEE Conference on Decision and Control. PDF

2014

Differential analysis of nonlinear systems: revisiting the pendulum example. F. Forni, R. Sepulchre. 53rd IEEE Conference on Decision and Control. PDF

A differential Lyapunov framework for contraction analysis. F. Forni, R. Sepulchre. IEEE Transactions on Automatic Control, 59(3), 614-628. PDF

Event-triggered transmission for linear control over communication channels. F. Forni, S. Galeani, D. Nesic, L. Zaccarian. Automatica, 50(2), 490-498. PDF

2013

On differential passivity of physical systems. F. Forni, R. Sepulchre, A.J. van der Schaft. 52nd IEEE Conference on Decision and Control. PDF

On differentially dissipative dynamical systems. F. Forni, R. Sepulchre. 9th IFAC Symposium on Nonlinear Control Systems. PDF

Reference mirroring for control with impacts. F. Forni, A. Teel, L. Zaccarian. Book chapter in Hybrid Systems with Constraints, Wiley-ISTE. PDF

Follow the bouncing ball: global results on tracking and state estimation with impacts. F. Forni, A. Teel, L. Zaccarian. IEEE Transactions on Automatic Control, 58(6), 1470-1485. PDF, Cartoon

Lyapunov-based sufficient conditions for exponential stability in hybrid systems. A. Teel, F.Forni, L. Zaccarian. IEEE Transactions on Automatic Control, 58(6), 1591-1596. PDF

2012

Antiwindup regulation of saturated linear systems. F. Forni, L. Zaccarian, R. Sepulchre. 51st IEEE Conference on Decision and Control. PDF

Global tracking and state estimation with non-smooth impacts for a mass confined to an n-dimensional half-space. F. Forni, A. Teel, L. Zaccarian. IFAC Conference on Analysis and Design of Hybrid Systems (ADHS12). PDF

Model recovery antiwindup for continuous-time rate and magnitude saturated linear plants. F. Forni, S. Galeani, L. Zaccarian. Automatica, 48(8), 1502–1513. PDF

2011

Tracking control in billiards using mirrors without smoke, part I: Lyapunov-based local tracking in polyhedral regions. F. Forni, A. Teel, L. Zaccarian. 50th IEEE Conference on Decision and Control. PDF

Tracking control in billiards using mirrors without smoke, part II: additional Lyapunov-based local and global results. F. Forni, A. Teel, L. Zaccarian. 50th IEEE Conference on Decision and Control. PDF

Reset passivation of nonlinear controllers via a suitable time-regular reset map. F. Forni, D. Nesic, L. Zaccarian. Automatica, 47(9), 2099-2106. PDF

2010

Stability for a class of homogeneous hybrid systems by annular Lyapunov analysis. F. Forni, A. Teel. 49th IEEE Conference on Decision and Control. PDF

Instability and overshoots of solutions for a class of homogeneous hybrid systems by Lyapunov-like analysis. F. Forni, A. Teel. 49th IEEE Conference on Decision and Control. PDF

Lazy sensors for the scheduling of measurement samples transmission in linear closed loops over networks. F. Forni, G. Galeani, D. Nesic, L. Zaccarian. 49th IEEE Conference on Decision and Control.

A family of global stabilizers for quasi-optimal control of planar linear saturated systems. F. Forni, S. Galeani, L. Zaccarian. IEEE Transactions on Automatic Control, 55(5), 1175-1180. PDF

Gain-scheduled, model-based anti-windup for LPV systems. F. Forni, S. Galeani. Automatica, 46(1), 222-225. PDF

Results on passivation of nonlinear controllers via a suitable time-regular reset map. F. Forni, D. Nesic, L. Zaccarian. 8th IFAC Symposium on nonlinear control systems.

An almost anti-windup scheme for plants with magnitude, rate and curvature saturation. F. Forni, S. Galeani, L. Zaccarian. American Control Conference (ACC2010). PDF

2009

Model recovery anti-windup for plants with rate and magnitude saturation. F. Forni, S. Galeani, L. Zaccarian. European Control Conference.

2008

Globally stabilizing quasi time-optimal control of planar saturated linear systems. F. Forni, S. Galeani, L. Zaccarian. 16th Mediterranean Conference on Control and Automation

2007

Model based, gain-scheduled anti-windup control for LPV systems. F. Forni, S. Galeani, 46th IEEE Conference on Decision and Control

Theses

PhD thesis (2010): Analysis of hybrid systems and design of hybrid controllers (A. Pettorossi, L. Zaccarian).

Master degree thesis (2006): Model checking of hybrid systems (A. Pettorossi).

Degree thesis (2004): Extended Kalman filter for the localization of mobile robots (O. Grasselli, F. Martinelli).