Research

Research topics:

1. Reduced order control for Distributed parameter port Hamiltonian systems:

1. Reduced order observer-based control design

2. Reduced order distributed control design

Research project:

Ongoing project:

2. Project EUR EIPHI MOCOFLES-PhyAI: Modeling and control of flexible structures with physics informed learning . EUR EIPHI Gratuate school and Région Bourgogne-Franche-Comté 2025-2028 (Project responsible, Funding: 234,2 K€).  

1. Project HORIZON-MSCA Doctoral Networks 2021 under the Marie Sklodowska Curie Grant agreement ID: 101073558,  Modelling and control of flexible structures interacting with fluids, 2023-2027  (participated Researcher)

Finished project:

7. Project ANR IMPACTS: Implicit port Hamiltonian control systems. FEMTO-ST (Besançon), ISAE-SUPAERO (Toulouse), LAGEPP (Lyon), LCIS (Valence). 2021-2025 (participated Researcher, 400 K€).

6. Project EUR EIPHI ECOBOT: Energy-based modeling and COntrol of Bio-inspired soft robOTs.  EUR EIPHI Gratuate school and Région Bourgogne-Franche-Comté 2021 - 2024 (Project responsible, Funding: 138,7 K€).

5. Project Innovative Training Networks (ITN) under the Marie Sklodowska Curie grant agreement No 765579 ConFlex - Researching the control of flexible structures and fluid structure interactions. 2018-2022 (participated Researcher)

4. Project ANER N°2018Y-06145: Robust control design for the port-Hamiltonian system: Biomedical systems applications. Région Bourgogne-Franche-Comté 2018-2021 (Project responsible, Funding: 25 k€).

3. Project  ANR-DFG INFIDHEM (ANR-DFG 2016 NLI). Interconnected infinite-dimensional systems for heterogeneous media. Christian-Albrechts-University Kiel (Germany), Technische Universität München (Germany), Bergische Universität Wuppertal, (Germany), FEMTO-ST (France), LAGEP (France) and ISAE-Supaero (France). 2017-2020 (participated Researcher).

2. Project ANR Blanc SIMI3 (ANR-11-BS03-0002) HAMECMOPSYS: Hamiltonian Methods for the control of multidomain distributed parameter systems. LAGEP, FEMTO-ST, ISAE, and IECN (France). 2012-2014. (Ph.D. student)

1. Project BQR ENSMM N°06-2017: Optimal distributed control of micro/nano mechatronic systems: Application to a compliant Bio-medical system described by partial differential equations. ENSMM 2016-2018 (Project responsible).

HDR (Habilitation à Diriger des Recherches)

AS2M FEMTO-ST, 14 mars 2024

Titre: Reduced order control of infinite dimensional port Hamiltonian systems: Application to smart material-based soft actuators

Jury: 

• Dr. Christophe Prieur (Directeur de recherche à Gipslab, CNRS, France)

• Prof. Thomas Meurer (Karlsruhe Institute of Technology, Germany)

• Prof. Didier Georges (Université Grenoble-Alpes, France)

• Prof. Bao-Zhu Guo (Chinese Academy of Sciences)

• Prof. Bernhard Maschke (University Claude Bernard Lyon 1, France)

• Prof. Yann Le Gorrec (SUPMICROTECH, UMLP, France) 

Ph. D in cotutelle (2012-2015) (manuscript)

LAGEP-AS2M/FEMTO-ST, September 2012-Decemer 2015

Supervisors: Bernhard Maschke (maschke@lagep.univ-lyon1.fr, LAGEP, France), Yann Le Gorrec (legorrec@femto-st.fr,FEMTO-ST, France), Boussad Hamroun (hamroun@lagep.univ-lyon.fr, LAGEP, France).

Funding: Project ANR Blanc SIMI3 (ANR-11-BS03-0002) HAMECMOPSYS: Hamiltonian Methods for the control of multidomain distributed parameter systems. LAGEP, FEMTO-ST, ISAE and IECN (France). 2012-2014.

Defended: 7th December 2015, University Claude Bernard Lyon 1, Villeurbanne, France.

Jury: 

• Prof. Birgit Jacob (University of Wuppertal, Germany)

• Prof. Laurent Lefèvre (INP Grenoble, France)

• Dr. Denis Arzelier (LAAS Toulouse, France)

• Prof. Jacquelien Scherpen (University of Groningen, Netherlands)

• Dr. Paul Kotyczka (Technological University of Munich, Germany)

• Prof. Bernhard Maschke (University Claude Bernard Lyon 1, France)

• Prof. Yann Le Gorrec (ENSMM, France) 

• Dr. Boussad Hamroun (University Claude Bernard Lyon 1, France)

Thesis title: Passivity preserving balanced reduction for finite and infinite dimensional port-Hamiltonian systems.

Thesis abstract: In this thesis, we have developed different structure preserving reduction methods for finite and infinite dimensional port-Hamiltonian systems by using a balanced model reduction approach. In the first part, we have defined a descriptor representation of port-Hamiltonian systems with constraints. The balanced realization of the descriptor system has been used for reducing the port-Hamiltonian descriptor system and conserving explicitly the constraint equations. In the second part, conditions have been derived on the weighting matrices of the LQG control problem such that the dynamical LQG controller is passive and has a port-Hamiltonian realization. Two passive LQG control design methods have been suggested and one of them allows us to define an LQG balanced realization. Based on this realization, the effort constraint method has been used to reduce the LQG balanced port-Hamiltonian system and obtain a reduced order passive LQG controller. In this way the closed-loop system is derived from the interconnection of 2 port-Hamiltonian systems, hence the Hamiltonian structure has been preserved. In the third part, the proceeding results have been extended to a class of infinite dimensional port-Hamiltonian system with bounded input operator. A passive LQG control design method for the infinite dimensional port-Hamiltonian system has been derived as by control by interconnection. Based on the balanced realization associated with this passive LQG control design, a finite dimensional approximation has been achieved and a reduced order passive LQG controller has been derived. As a consequence, the system in closed-loop with this reduced order LQG controller again admits a port-Hamiltonian structure and satisfies the passivity.

Keywords: Finite and infinite dimensional port-Hamiltonian systems, balanced reduction method, structure-preserving reduction, balanced reduction of the closed-loop system, descriptor system.

Master