(SPRINGER)
[B1] S. Battilotti, Noninteracting control with stability for nonlinear systems, Lectures Notes in Control and Information Sciences, 196, Springer Verlag, 1994.
Abstract.—The noninteracting control problem with stability consists of rendering a nonlinear system noninteractive while achieving internal stability. With the exception of systems with outputs partitioned into given blocks or when the state of the system is not available for feedback, this problem is well understood. However, this book provides a useful supplement to the standard texts on the nonlinear control theory and collects all the existing results on the nonlinear noninteracting control problem into a self-contained and extensive concept.
(IEEE TAC, IEEE TCNS, AUTOMATICA, SICON, JNRC, SCL, IJC, EJC, AJC)
[J66] S. Battilotti, H^{1,infinity}-semiglobal and L^2-convergent boundary PDE observers for fully nonlinear second order PDEs: a symmetry-based approach, IEEE Transactions on Automatic Control, 2026 (under review).
Abstract.—We propose a boundary PDE observer de- sign framework for fully nonlinear multivariable second- order evolution PDEs that goes beyond classical local approaches. The proposed PDE observers are initialized at the boundary through measured system boundary conditions. While error convergence is guaranteed in the L^2-sense, the system solutions for which the observer is designed are assumed to be essentially bounded, together with their spatial derivatives, within a priori known bounds. This characterizes the proposed observers as H^{-1,infinity}-semiglobal and L^2-convergent.
[J65] S. Battilotti, From local to global feedback controllers: a symmetry-based approach, Journal of Robust and Nonlinear Control, https://doi.org/10.1002/rnc.70616, 2026.
Abstract.—We introduce a novel procedure for designing global state- or output-feedback controllers for ordinary differential nonlinear systems (ODE) from the knowledge of a local state- or output-feedback controller and a symmetry of the system. Symmetries are one-parameter transformations which leave invariant the structure of the system by mapping solutions into other (parametrized) solutions. We use particular types of symmetry, called contracting symmetry, which uniformly contract solutions into arbitrary small solutions around the origin. This contracting action allows to obtain global feedback controllers from local feedback controller by inverse transformation via the symmetry.
[J64] S. Battilotti, A. Borri, F. Cacace, M. d'Angelo, A. Germani, A consensus Kalman filter on L^2 spaces, Automatica, 183, pp. 112530, 2026.
Abstract.—We study the estimation problem of infinite dimensional discrete-time stochastic linear systems with finite dimensional measurements on sensor networks modeled by connected undirected graphs. The framework encompasses discretized PDEs with sampled measurements. A new scheme of distributed consensus on measurements is extended to systems evolving in L^2 spaces in order to limit the information exchange to finite-dimensional vectors. We show that, in analogy to the finite-dimensional case, at each node the variance of the estimation error tends to the one of the centralized Kalman filter for systems is L^2 when the number of consensus steps increases.
[J63] S. Battilotti, Symmetry-based observers for ODE systems, IEEE Transactions on Automatic Control, 70(12), pp. 8165-8180, 2025.
Abstract. —An observer design framework is introduced for ordinary differential equation systems based on various types of existing or even novel one-parameter symmetries (exact, asymptotic, and variational) ending up with different types of semiglobal and global observers, by considering bounded or unbounded system solutions and requiring asymptotic-time or prescribed-time error convergence. We compare some of these symmetry-based observers with existing observers, recovering for instance the same performances as high-gain semiglobal observers and the finite-time convergence capabilities of sliding mode observers.
[J62] S. Battilotti, Symmetry-based control and state estimation of nonlinear systems in prescribed time, Journal of Robust and Nonlinear Control, 36(5), pp. 2803-2818, 2025.
Abstract. —In this paper, we design novel types of smooth time‐varying controllers/observers for lower triangular nonlinear systems with prescribed time convergence. We prove the results under very mild conditions: No global restrictions or bounds on the nonlinearities are required, but only locally Lipschitz conditions or the existence of solutions over finite intervals. Our smooth time‐varying controllers/observers have completely different features in comparison with traditional homogenous or sliding‐mode controllers/observers and existing smooth time‐varying controllers/observers, being designed with a symmetry‐based strategy.
[J61] S. Battilotti, A. Borri, F. Cacace, M. d'Angelo, Optimal discrete-time distributed Kalman filter with reduced communication, IEEE Transactions on Automatic Control, 70(4), pp. 2754 - 2761, 2024.
Abstract. —This paper proposes and analyzes a distributed filter where the consensus term is a virtual output rather than the local state estimate. This feature allows for reducing the data transmitted among nodes at each intermediate step, namely instead of exchanging a vector of the dimension of the state, nodes exchange a vector of the dimension of the rank of the total output matrix. The main finding is that the convergence to the performance of the centralized Kalman filter and mean square boundedness of the estimation error are not lost despite an increase in the number of consensus steps. Simulations show that the total communication overhead is reduced without performance degradation with respect to the original distributed filter, where nodes exchange local state estimates.
[J60] S. Battilotti, Symmetries of nonlinear DDE systems with application to observer design, International Journal of Robust and Nonlinear Control, 34(10), pp. 6550-6581, 2024.
Abstract. —In this paper we construct a general observer theory for differential delay systems based on different types of symmetries (exact symmetry or asymptotic symmetry), ending up with a certain number of semi‐global and global observers, with bounded or unbounded system's solutions. We introduce the notions of symmetry for a differential delay system, being inspired by well‐known definitions of symmetry for an ordinary or partial differential system, and variational symmetry for the associated variational differential delay system. We illustrate observer design procedures in details, by proving that the existence of a (variational asymptotic) symmetry with system's detectability in the first approximation have a central role in the design of a state observer. The symmetry is a one‐parameter group of transformations which maps the system into itself (exact symmetry) or into a different system (asymptotic symmetry), approximating the original one with better and better accuracy as the parameter of the symmetry is larger. The types of symmetries we consider here show an important contractive action on the state and input spaces for which the system's solutions are mapped into arbitrarily small neighbourhoods of the origin in which the transformed system can be well‐approximated by its linearization. The parameter of the symmetry may be constant (semiglobal observers) or updated on‐line by a state norm estimator (global observers).
[J59] S. Battilotti, F. Cacace, M. d'Angelo, Consensus analysis of random sub-graphs for distributed filtering with link failures, IEEE Transactions on Automatic Control, 69(4), pp. 2476-2483, 2024.
Abstract. —In this paper we carry out a stability analysis of a distributed consensus algorithm in presence of link failures. The algorithm combines a new broadcast version of a Push-Sum algorithm, specifically designed for handling link failures, with a new recursive consensus filter. The analysis is based on the properties of random Laplacian matrices and random sub-graphs and it may also be relevant for other distributed estimation problems. We characterize the convergence speed, the minimum number of consensus steps needed and the impact of link failures and for both the broadcast Push-Sum and the recursive consensus algorithms. Numerical simulations validate the theoretical analysis.
[J58] S. Battilotti, F. Cacace, M. d'Angelo, Distributed optimal control of discrete-time linear systems over networks, IEEE Transactions on Control of Network Systems, 11(2), pp. 671-682, 2024.
Abstract. —In this article, we consider the distributed linear-quadratic-Gaussian optimal control problem for discrete-time systems over networks. In particular, the feedback controller is composed of local control stations which receive some measurement data from the plant process and regulate a portion of the input signal. We provide a solution when the nodes have information on the structural data of the whole network but take local actions, and when only local information on the network is available to the nodes. The proposed solution is arbitrarily close to the optimal centralized one when the intermediate number of consensus steps is sufficiently large.
[J57] S. Battilotti, F. Cacace, C. Califano, M. d'Angelo, Leader following consensus with non-uniform large communication delays, IEEE Transactions on Control of Network Systems, 10(4), pp. 1975-1985, 2023.
Abstract. —In this paper we study the leader following consensus problem for linear multi-agent systems and a class of nonlinear ones with bounded disturbances and non-uniform and arbitrarily large communication delays on both directed and undirected graphs. In the linear case we solve for the first time the leader-following consensus problems in presence of arbitrarily large, non-uniform and time-varying communications delay on generic connected graphs. The approach is fully distributed and it is based on a suitable weighting modification of the network links and on an output feedback chain of predictors.
[J56] S. Battilotti, F. Cacace, C. Califano, M. d'Angelo, Stochastic Leader-Following for Heterogeneous Linear Agents with Communications Delay, IEEE Transactions on Automatic Control, 68(9), pp. 5706-5713, 2023.
Abstract.—In this article, we study the leader-following problem for linear stochastic multiagent systems with uniform and constant communication delays on directed or undirected graphs. We consider both the state feedback and output feedback solutions. In the latter case, the agents can be a set of heterogeneous linear systems. By resorting to a new approach based on the scalar Lambert equation, we obtain a constructive design with less conservative closed-form delay bounds. In particular, it is possible to compensate arbitrarily large delays if the agents are not unstable.
[J55] S. Battilotti, Design of observers with gain adaptation for systems with disturbances: an orbital symmetry-based approach, Automatica, 149, pp. 110835, 2023.
Abstract.—We propose a framework for designing global observers for nonlinear systems with disturbances under geometric conditions based on orbital symmetries. Under some additional restrictions these orbital symmetry-based conditions boil down to geometric homogeneity (at infinity) conditions. Our observers are the result of the combination of a first filter, a state norm estimator, with a second filter adaptively tuned by the first and when compared with the existing literature have a completely novel structure, inherited by the orbital symmetry-based conditions. The observers exploit the geometric properties of orbital symmetries which are one-parameter groups of transformations capable of mapping the system state into neighbourhoods with parametrized width.
[J54] S. Battilotti, Performance optimization via sequential processing for nonlinear state estimation of noisy systems, IEEE Transactions on Automatic Control, 67(6), pp. 2957-2972, 2022.
Abstract.—We propose a framework for designing observers for noisy nonlinear systems with global convergence properties and performing robustness and noise sensitivity. This framework comes out from the combination of a state norm estimator with a chain of filters, adaptively tuned by the state norm estimator. The state estimate is sequentially processed through the chain of filters. Each filter contributes to improving, by a certain amount, the estimation error performances of the previous filter in terms of noise sensitivity, and this amount is quantitatively evaluated using a comparison criterion, which considers the ratio of the asymptotic error norm bounds of two consecutive filters in the chain. A recursive algorithm is given for implementing the chain of filters and guaranteeing a sequential error performance optimization process. Simulations show the effectiveness of these chains of filters.
[J53] S. Battilotti, F. Cacace, M. d'Angelo, A stability with optimality analysis of consensus-based distributed filters for discrete-time linear systems, 129, Automatica, pp. 109589, 2021.
Abstract.—In this paper we investigate how stability and optimality of consensus-based distributed filters depend on the number of consensus steps in a discrete-time setting for both directed and undirected graphs. By introducing two new algorithms, a simpler one based on dynamic averaging of the estimates and a more complex version where local error covariance matrices are exchanged as well, we are able to derive a complete theoretical analysis. In particular we show that dynamic averaging alone suffices to approximate the optimal centralized estimate if the number of consensus steps is large enough and that the number of consensus steps needed for stability can be computed in a distributed way. These results shed light on the advantages as well as the fundamental limitations shared by all the existing proposals for this class of algorithms in the basic case of linear time-invariant systems, that are relevant for the analysis of more complex situations.
[J52] S. Battilotti, F. Cacace, M. d'Angelo, Distributed infinite-horizon optimal control of continuous-time linear systems over network, International Journal of Robust and Nonlinear Control, 31, pp. 2082-2096, 2021.
Abstract.—This article deals with the distributed infinite-horizon linear-quadratic-Gaussian optimal control problem for continuous-time systems over networks. In particular, the feedback controller is composed of local control stations, which receive some measurement data from the plant process and regulates a portion of the input signal. We provide a solution when the nodes have information on the structural data of the whole network but takes local actions, and also when only local information on the network are available to the nodes. The proposed solution is arbitrarily close to the optimal centralized one (in terms of cost index) when a design parameter is set sufficiently large. Numerical simulation validate the theoretical results.
[J51] S. Battilotti, F. Cacace, M. d'Angelo, A. Germani, Asymptotically optimal consensus-based distributed filtering of continuous-time linear systems, Automatica, vol. 109, pp. 109189, 2020.
Abstract.—We describe a consensus-based distributed filtering algorithm for linear systems with a parametrized gain and show that when the parameter becomes large the error covariance at each node becomes arbitrarily close to the error covariance of the optimal centralized Kalman filter. The result concerns distributed estimation over a connected undirected or directed graph and for static configurations it only requires to exchange the estimates among adjacent nodes. A comparison with related approaches confirms the theoretical results and shows that the method can be applied to a wide range of distributed estimation problems.
[J50] S. Battilotti, Continuous and sampled-data stabilizers for nonlinear systems with input and measurement delays, IEEE Transactions on Automatic Control, vol. 65, no. 4, 1568-1583, 2020.
Abstract.—In this paper, we propose continuous-time and sampled-data output feedback controllers for nonlinear multi-input multi-output systems with time-varying measurement and input delays, with no restriction on the bound or serious limitations on the growth of the nonlinearities. A state prediction is generated by chains of saturated high-gain observers with switching error-correction terms and the state prediction is used to stabilize the system with saturated controls. The observers reconstruct the unmeasurable states at different delayed time-instants, which partition the maximal variation interval of the time-varying delays. These delayed time instant depend both on the magnitude of the delays and the growth rate of the nonlinearities. We also design sampled-data stabilizers as zero-order discretization of a hybrid modification (with continuous-time states and discrete-time control and innovations) of the continuous-time stabilizers.
[J49] S. Battilotti, M. Mekhail, Distributed estimation for nonlinear systems, Automatica, vol. 107, pp. 562-573, 2019.
Abstract.—In a classical distributed framework, we present a novel distributed observer for genuinely nonlinear continuous-time plants. A network of sensors monitors a multiple-outputs plant. Each sensor measures only a portion of the plant’s outputs, and the sensing capability is different from sensor to sensor. The assumption of strongly connected digraph on the underlying sensor network ensures robustness and direct communication paths between nodes. Moreover, incremental homogeneity assumptions on the plant embrace a very large class of nonlinear systems for which a distributed observer can be designed. The distributed observer consists of local observers associated with each sensor, asymptotically estimating the entire state of the plant only by using the local sensing capability and information exchanged through the communication network. Numerical simulations on a network of interconnected Van Der Pol oscillators confirms theoretical results. Robustness and switching topologies are also discussed, and suitable modifications of the distributed observer are proposed.
[J48] S. Battilotti, C. Califano, Leader-following consensus for nonlinear agents with measurement feedback, Journal of Robust and Nonlinear Control, vol. 29, no. 6, pp. 1694-1718, 2019.
Abstract.—The leader-following consensus problem is investigated for large classes of nonlinear identical agents. Sufficient conditions are provided for achieving consensus via state and measurement feedback laws based on a local (ie, among neighbors) information exchange. The leader's trajectories are assumed bounded without knowledge of the containing compact set and the agents' trajectories possibly unbounded under the action of a bounded input. Generalizations to heterogeneous agents and robustness are also discussed.
[J47] S. Battilotti, Multilayer state predictors for nonlinear systems with time-varying measurement delays, SIAM Journal on Control and Optimization, vol. 57, no. 3, pp. 1541-1566, 2019.
Abstract.—In this paper, we propose state predictors for stable genuinely nonlinear systems with time-varying measurement delay, with no restriction on its bound or serious limitations on the growth of the nonlinearities. The measurement delay is assumed to be continuous. A state prediction is generated by chains of nonlinear dynamic observers operating at different layers. On each layer, these observers reconstruct the unmeasurable state vector at different delayed time-instants, which partition the maximal variation interval of the time-varying delay. This partition determines the number of observers in the layer. Transitions from a layer to the next one are triggered by an online estimate of the magnitude of the state. Consistently, in passing to the next layer the partition is refined and the number of observers increased. In this sense, our predictor is nonlinear and adaptive.
[J46] S. Battilotti, M. d'Angelo, Stochastic output delay identification and filtering of discrete-time gaussian systems, Automatica, 109 (2019), vol. 109, 2019.
Abstract.—In this paper we propose a solution to the problems of detecting a generally correlated stochastic output delay sequence of a linear system driven by Gaussian noise. This is the model for uncertain observations resulting from losses in the propagation channel due to fading phenomena or packet dropouts that is common in wireless sensor networks, networked control systems, or remote sensing applications. The solution we propose consists of a nonlinear detector which identifies online the stochastic delay sequence. The solution provided is optimal in the sense that minimizes the probability of error of the delay detector. Finally, a filtering stage fed with the information given by the detector can follow to estimate the state of the system. Numerical simulations show good performance of the proposed method.
[J45] S. Battilotti, F. Cacace, A. Germani, M. d'Angelo, B. Sinopoli, LQ non-Gaussian Regulator with Markovian Control, IEEE Control Systems Letters, vol. 3, no. 3, 2019.
Abstract.—The paper concerns the Linear Quadratic non-Gaussian (LQnG) sub-optimal control problem when the input signal travels along an unreliable network, namely a Gilbert-Elliot channel. In particular, the control input packet losses aremodeled by a two-state Markov chain with known transition probability matrix, and we assume that the moments of the non-Gaussian noise sequences up to the fourth order are known. By mean of a suitable rewriting of the system through an output injection term and by considering an augmented system with the second-order Kronecker power of the measurements, a simple solution is provided by substituting the Kalman predictor of theLQG control law with a quadratic optimal predictor. Numerical simulations show the effectiveness of the proposed method.
[J44] S. Battilotti, F. Cacace, M. d'Angelo, A. Germani, The Polynomial approach to the LQ non-Gaussian regulator problem through output injection, IEEE Transactions on Automatic Control, vol. 64, no. 2, pp. 538-552, 2019.
Abstract.—A new approach for the solution of the regulator problem for linear discrete-time dynamical systems with non-Gaussian disturbances is proposed. This approach generalizes a previous result concerning the definition of the quadratic optimal regulator. It consists in the definition of the polynomial optimal algorithm of order $\nu$ for the solution of the linear quadratic non-Gaussian stochastic regulator problem for systems with partial state information. The validity of the separation principle has also been proved in this case. Numerical simulations show the high performance of the proposed method with respect to the classical linear regulation techniques.
[J43] S. Battilotti, F. Cacace, M. d'Angelo, A. Germani, Distributed Kalman filtering over sensor network with unknown random link, IEEE Control Systems Letters, vol. 2, pp. 587-592, 2018, DOI: 10.1109/LCSYS.2018.2845304.
Abstract.—In this paper we consider the distributed consensusbased filtering problem for linear time-invariant systems over sensor networks subject to random link failures when the failure sequence is not known at the receiving side. We assume that the information exchanged, traveling along the channel, is corrupted by a noise and hence, it is no more possible to discriminate with certainty if a link failure has occurred. Therefore, in order to process the only significant information, we endow each sensor with detectors which decide on the presence of link failures. At each sensor the proposed approach consists of three steps: failure detection, local data aggregation and Kalman consensus filtering. Numerical examples show the effectiveness of this method.
[J42] S. Battilotti, Robust observer design under measurement noise with gain adaptation and saturated estimates, Automatica, vol. 81, pp. 75-86, 2017.
Abstract.—We prove new results on robust observer design for systems with noisy measurement and bounded trajectories. A state observer is designed by dominating the incrementally homogeneous nonlinearities of the observation error system with its linear approximation, while gain adaptation and incremental observability guarantee an asymptotic upper bound for the estimation error depending on the limsup of the norm of the measuremen noise. The gain adaptation is implemented as the output of a stable filter using the squared norm of the measured output estimation error and the mismatch between each estimate and its saturated value.
[J41] S. Battilotti, Stabilization via generalized homogeneous approximations, IEEE Transactions on Automatic Control, vol. 62, 7, 2017,DOI: 10.1109/TAC.2016.2614269.
Abstract.—We introduce a notion of generalized homogeneous approximation at the origin and at infinity which extends the classical notions and captures a large class of nonlinear systems, including (lower and upper) triangular systems. Exploiting this extension and although this extension does not preserve the basic properties of the classical notion, we give basic results concerning stabilization and robustness of nonlinear systems, by designing a homogeneous (in the generalized sense) feedback controller which globally asymptotically stabilizes a chain of power integrators and makes it the dominant part at infinity and at the origin (in the generalized sense) of the dynamics. Stability against nonlinear perturbation follows from domination arguments.
[J40] S. Battilotti, Nonlinear predictors for systems with bounded trajectories and delayed measurements, Automatica, vol. 59, pp. 127-138, 2015.
Abstract.—Novel nonlinear predictors are studied for nonlinear systems with delayed measurements without assuming globally Lipschitz conditions or a known predictor map but requiring instead bounded state trajectories. The delay is constant and known. These nonlinear predictors consists of a series of dynamic filters that generate estimates of the state vector (and its magnitude) at different delayed time instants which differ from one another by a small fraction of the overall delay.
[J39] S. Battilotti, Incremental generalized homogeneity, observer design and semiglobal stabilization, Asian Journal of Control, vol. 16, 2, pp. 498–508, 2014.
Abstract.—The notion of incremental generalized homogeneity is introduced, giving new results on semiglobal stabilization by output feedback and observer design and putting into a unifying framework the stabilization design for triangular (feedback/feedforward) and homogeneous systems. A state feedback controller and an asymptotic state observer are designed separately by dominating the generalized homogeneity degree of the nonlinearities with the degree of the linear approximation of the system and an output feedback controller is obtained according to a certainty-equivalence principle.
[J38] S. Battilotti, Stabilization with filtered Lyapunov functions and feedback passivation, Asian Journal of Control, vol. 14, no. 4, pp. 924–935, 2012.
Abstract.—In this paper a generalized class of filtered Lyapunov functions is introduced, which are Lyapunov functions with time-varying parameters satisfying certain differential equations. Filtered Lyapunov functions have the same stability properties as Lyapunov functions. Tools are given for designing composite filtered Lyapunov functions for cascaded systems. These functions are used to design globally stabilizing dynamic feedback laws for block-feedforward systems with stabilizable linear approximation.
[J37] S. Battilotti, Observer design for nonlinear systems with Markov chain, Journal of Robust and Nonlinear Control, vol. 19, no. 14, pp. 1603-1631, 2009, DOI: 10.1002/rnc.1404.
Abstract.—We present a novel observer design for a class of single-output nonlinear systems with Markov jumps. The Markov jump process interferes with a deterministic nonlinear dynamics at random times and retains its state for a certain amount of time (dwell time). The estimation process is reset at these random times, depending on the reset values of the state process, and then evolves as a deterministic estimate of the state process itself. The novelty is given by the reset mechanism adopted for the estimation process itself, depending on the reset values of the state process. We prove that, as long as the mathematical expectation of the dwell times has a positive lower bound and the transition rate of the jump process at the first exit time out of any point is bounded, the state estimation error of the switching dynamics asymptotically converges to zero with probability one. The state estimate over each dwell time is designed using the novel technique of ‘output immersion’: each single-output nonlinear dynamics is ‘immersed’ into a system with as many outputs as its states. The immersed dynamics can be split into one-dimensional dynamics each one with its state and output. By estimating the state of each one-dimensional dynamics we determine a state estimator for the dynamics before immersion.
[J36] S. Battilotti, Filtered Lyapunov Functions and their Applications in the Stability Analysis of Nonlinear Systems, IEEE Transactions on Automatic Control, 53(1), pp. 434-439, 2008.
Abstract.—In this paper, we introduce a new type of Lyapunov functions in a general framework particularly suitable for the analysis and control of systems with noise and uncertainty. These Lyapunov functions may depend on parameters possibly satisfying differential equations. The main differences with respect to classical Lyapunov functions and classical tools for the design of composite Lyapunov functions are discussed through examples. A design tool for the design of composite filtered Lyapunov functions is given, and examples show improvements over existing literature.
[J35] S. Battilotti, Control over a communication channel with random noise and delays, Automatica, 44(2), pp. 348-360, 2008.
Abstract.—We study the problem of controlling a general class of nonlinear systems through a memoryless channel with constant delay. The remote controller receives the delayed measurements from the controlled plant and transmits back to the plant a control law, designed according to a certainty equivalence strategy. The closed-loop system trajectories are convergent to zero in probability and square integrable, despite the presence of uncertainties and square integrable noise.
[J34] S. Battilotti, Lyapunov-based design of iISS feedforward systems with uncertainty and noisy measurements, SIAM Journal on Control and Optimization, 46(1), pp. 84-115, 2007.
Abstract.—We study the problem of achieving integral input to state stability (iISS) with respect to noise for a class of upper triangular nonlinear systems with uncertainty and measurement noise. We propose a novel step‐by‐step Lyapunov‐based design, consisting of (1) splitting an n‐dimensional system into n one‐dimensional systems, each with its own state, inputs, and measurement, (2) constructing a one‐dimensional measurement feedback controller for each one‐dimensional system, according to a certainty equivalence principle, and (3) selecting the parameters of these controllers so that their interconnection gives a measurement feedback controller for the n‐dimensional system. The stability analysis is performed through filtered Lyapunov functions, which are Lyapunov functions with parameters being the output of suitable dynamical filters.
[J33] S. Battilotti, C. Califano, A geometric approach to dynamic feedback linearization, Advances in Control Theory and Applications (in honor of A. Isidori), A. Astolfi and L. Marconi eds., Springer Verlag LNCIS Series, 2007.
Abstract.—The paper deals with dynamic feedback linearization of multi input continuous time affine systems. The geometric properties of a dynamic feedback linearizable system as well as those of the compensator which achieves linearization are here enlightened. On the basis of these geometric properties an algorithm for the computation of a dynamic feedback obtained from the composition of regular static state feedback laws and integrators is proposed. Our result is based on the geometric approach introduced by Isidori and coworkers in 1981 for dealing with nonlinear control problems.
[J32] S. Battilotti, A separation result for systems with feedback constraints, Systems and Control Letters, vol. 55, pp. 369-375, 2006.
[J31] S. Battilotti, Robust detectability from the measurements plus state feedback stabilization imply semiglobal stabilization from the measurements, IEEE Transactions on Automatic Control, vol. 51, pp. 1542-1548, 2006.
[J30] S. Battilotti, Control of linear systems with measurement nonlinearities, IEEE Transactions on Automatic Control, vol. 50, pp. 1872-1877, 2005.
[J29] S. Battilotti, Stochastic stabilization of nonlinear systems in feedforward form with noisy outputs, IEEE Transactions on Automatic Control, vol. 50, pp. 1872- 1877, 2005.
[J28] S. Battilotti, A. De Santis, Dwell time controllers for stochastic systems with switching Markov chain, Automatica, vol. 41, pp. 923-934, 2005.
[J27] S. Battilotti, C. Califano, A constructive condition for dynamic feedback linearization, Systems and Control Letters, vol. 52, pp. 329-338, 2004, DOI: 10.1016/j.sysconle.2004.02.009.
[J26] G. Besancon, S. Battilotti, L. Lanari, A new separation result for a class of quadratic-like systems with application to Euler-Lagrange models, Automatica, vol. 39, pp. 1085-1093, 2003 DOI: 10.1016/S0005-1098(03)00073-6.
[J25] S. Battilotti, A. De Santis, Robust output feedback control of nonlinear stochastic systems using neural networks, IEEE Transactions on Neural Networks, vol. 14, pp. 1-14, 2003; DOI: 10.1109/TNN.2002.806609.
[J24] S. Battilotti, A. De Santis, Stabilization in probability of nonlinear stochastic systems with guaranteed region of attraction and target set, IEEE Transactions on Automatic Control, vol. 48, pp. 1585-1599, 2003, DOI: 10.1137/S0363012901375026.
[J23] S. Battilotti, A. De Santis, Stabilization in probability of nonlinear stochastic systems with guaranteed cost, SIAM Journal on Control and Optimization, vol. 40, pp. 1938-1964, 2002, DOI: 10.1109/TAC.2003.816973.
[J22] S. Battilotti, A unifying framework for the semiglobal stabilization of nonlinear uncertain systems via measurement feedback, IEEE Transactions on Automatic Control, vol. 46, pp. 3-16, 2001, PII: S 0018-9286(01)00034-4.
[J21] S. Battilotti, Generalized dilations and the stabilization of uncertain systems via measurement feedback, Systems and Control Letters, vol. 43, pp. 95-100, 2001, PII: S0167-6911(00)00116-X.
[J20] S. Battilotti, Separation results for semiglobal stabilization of nonlinear systems via measurement feedback, New Trends in Nonlinear Observer Design, H. Nijmeijer e T. Fossen ed., Springer Verlag LNCIS Series no. 244, pp. 183-207, 1999.
[J19] S. Battilotti, Robust stabilization of nonlinear systems with pointwise norm bounded uncertainties: a control Lyapunov function approach, IEEE Transactions on Automatic Control, vol. 44, pp. 1-15, 1999, PII: S 0018-9286(99)00557-7.
[J18] S. Battilotti, Sufficient conditions for global output regulation of nonlinear interconnected systems, Automatica, vol. 35, pp. 829-835, 1999.
[J17] S. Battilotti, Noninteracting control via measurement feedback for nonlinear systems with relative degree, IEEE Transactions on Automatic Control, vol. 44, pp. 774-780, 1999, DOI: 10.1109/9.754816.
[J16] S. Battilotti, Robust output feedback stabilization via a small gain theorem, International Journal of Robust and Nonlinear Control, vol. 9, pp. 211-229, 1998, DOI: 10.1002/(SICI)1099-1239(199803)8:3<211::AID-RNC256>3.0.CO;2-9.
[J15] S. Battilotti, L. Lanari, Adaptive disturbance attenuation with global stability for rigid and elastic joint robots, Automatica, vol. 33, pp. 239-245, 1997, DOI: 10.1016/S0005-1098(96)00144-6.
[J14] S. Battilotti, A note on reduced-order dynamic output feedback stabilizing controllers, Systems and Control Letters, vol. 30, pp. 71-81, 1997, DOI: 10.1016/S0167-6911(96)00077-1.
[J13] S. Battilotti, L.Lanari, R. Ortega, On the role of passivity and output injection in the output feedback stabilization problem: application to robot control, European Journal of Control, vol. 3, pp. 92-104, 1997, DOI: 10.1016/S0947-3580(97)70068-2.
[J12] S. Battilotti, Universal controllers for robust control problems, Mathematics of Control, Signals and Systems, vol. 10, pp. 188-202, 1997, DOI: 10.1007/BF01213385.
[J11] S. Battilotti, Global output regulation and disturbance attenuation via measurement feedback for a class of nonlinear systems, IEEE Transactions on Automatic Control, vol. 41, pp. 315-327, 1996, PII: S 0018-9286(96)02097-1.
[J10] S. Battilotti, L. Lanari, Global set point control via link position measurement for flexible joint robots, Systems and Control Letters, vol. 25, pp. 21-29, 1995, SSDI 0167-6911(94)00052-W.
[J9] S. Battilotti, Noninteraction and stability via invertible feedback laws and some existence conditions, SIAM Journal on Control and Optimization, vol. 33, pp. 107-125, 1995, DOI: 10.1137/S0363012992239880.
[J8] A.M. Nobili, etc.etc., S. Battilotti, etc. etc., "Galileo Galilei" : Flight experiment on the equivalence principle with field emission electric propulsion, Journal of the Astronautical Sciences, vol. 43, pp. 219-242, 1995.
[J7] S. Battilotti, Stabilization via dynamic output feedback of systems with output nonlinearities, Systems and Control Letters, vol. 23, pp. 411-419,1994, DOI: 10.1016/0167-6911(94)90095-7.
[J6] S. Battilotti, A sufficient condition for noninteracting control with stability via dynamic state-feedback: block-partitioned outputs, International Journal of Control, vol. 55, pp. 1141-1160, 1992, DOI: 10.1080/00207179208934276.
[J5] S. Battilotti, Necessary conditions for nonlinear block noninteracting control with stability via dynamic state-feedback, Systems and Control Letters, vol. 19, pp. 481-491, 1992, DOI: 10.1016/0167-6911(92)90080-C.
[J4] S. Battilotti, A sufficient condition for noninteracting control with stability via dynamic state-feedback, IEEE Transactions on Automatic Control, vol. 36, 1033-1045, 1991, DOI: 10.1109/9.83534.
[J3] S. Battilotti, W.P. Dayawansa, Noninteracting control with stability for a class of nonlinear systems, Systems and Control Letters, vol. 27, pp. 327-338,1991, DOI: 10.1016/0167-6911(91)90131-W.
[J2] S. Battilotti, W.P.Dayawansa, Stabilization of globally noninteractive nonlinear systems via dynamic state-feedback, Journal of Mathematical Systems, Estimation and Control, vol. 1, pp. 441-463, 1991.
[1] Battilotti, G. Ulivi, An architecture for high performance control using digital signal processing chips, Control Systems Magazine, vol. 10, no.6, pp. 20-23, 1990.
(IEEE CDC, IFAC WC, ECC, NOLCOS, ACC, IEEE MC)
[C57] S. Battilotti, A. Borri, F. Cacace, M. d'Angelo, Distributed optimal control of discrete-time linear systems with reduced communication, European Control Conference, July 2026.
[C56] S. Battilotti, M. d'Angelo, F. Cacace, A. Germani, Asymptotically Optimal Distributed Filtering of Continuous-Time Linear systems, IFAC Triennal World Conference, Berlin, July 2020.
[C55] S. Battilotti, F. Cacace, M. D'Angelo, A. Germani, Cooperative Filtering with Absolute and Relative Measurements, IEEE Conference on Decision and Control, Miani (U.S.A), December 2018.
[C54] S. Battilotti, F. Cacace, M. D'Angelo, A. Germani, Distributed Kalman Filtering over Sensor Networks with Unknown Random Link Failures, IEEE Conference on Decision and Control, Miani (U.S.A), December 2018.
[C53] S. Battilotti, C. Califano, Semiglobal Leader-Following Consensus for generalized homogenous agents, European Control Conference, Linz, 2015.
[C52] S. Battilotti, M. Mekhail, Distributed estimation for feedback-linearizable systems, European Control Conference, Aalborg, Denmark, June 29-July 1, 2016.
[C51] S. Battilotti, Remarks on output feedback stabilization of a class of nonlinear systems, IEEE Conference on Decision and Control, San Antonio (U.S.A.), 1993, 1948-1953
[C50] S. Battilotti, Sequential processing and performance optimization in nonlinear state estimation, IFAC Triennal World Conference, Berlin, July 2020.
[C49] S. Battilotti, Robust observer design under measurement noise, 20th IFAC World Congress, Toulouse, France, 9-14 July 2017.
[C48] S. Battilotti, Generalized homogeneous approximations and the global stabilization of nopnlinear systems, IEEE Conference on Decision and Control, Los Angeles (U.S.A), 2014.
[C48] S. Battilotti, Generalized incremental homogeneity, incremental observability and global observer design, IEEE Conference on Decision and Control, Orlando (U.S.A), 2011.
[C47] S. Battilotti, Filtered Lyapunov functions and the stabilization of block feedforward systems, Triennal IFAC World Conference, Milano (Italy), 2011.
[C46] S. Battilotti, Incremental non-homogeneity of nonlinear systems, Triennal IFAC World Conference, Milano (Italy), 2011.
[C45] S. Battilotti, Constructive Lyapunov design of dynamic state feedback controllers, IEEE Conference on Decision and Control, 2008.
[C44] S. Battilotti, New results on the global stabilization of nonlinear systems with lack of controllability/observability in the first approximation, IEEE Conference on Decision and Control, Orlando (U.S.A.), 2001.
[C43] S. Battilotti, A new approach to the stabilization of nonlinear systems via partial measurement feedback: the adding one measurement tool, European Control Conference, Kos (Greece), 2007.
[C42] S. Battilotti, Filtered Lyapunov functions and their applications in the stability analysis of nonlinear systems, IEEE Conference on Decision and Control, San Diego (U.S.A), 2006.
[C41] S. Battilotti, Robust detectability from the measurements plus state feedback stabilization imply semiglobal stabilization from the measurements, IEEE Conference on Decision and Control, San Diego (U.S.A), 2006.
[C40] S. Battilotti, Measurement feedback controllers with constraints and their relation to the solution of Hamilton Jacobi inequalities, IEEE Conference on Decision and Control, Maui (U.S.A), 2003.
[C39] S. Battilotti, Stabilization of a class of time varying systems with control saturations and measurement noise with application to nonholonomic systems, IEEE Conference on Decision and Control, Maui (U.S.A), 2003.
[C38] G. Besancon, S. Battilotti, L. Lanari, A new separation result for a class of quadratic-like nonlinear systems with application to Eulero-Lagrange systems, Triennal IFAC World Conference, Barcellona (Spain), 2002.
[C37] S. Battilotti, Lyapunov Design of Global Measurement Feedback Controllers for Nonlinear Systems, 5th IFAC Symposium on Nonlinear Control Systems, St. Petersburg (Russia), 2001.
[C36] S. Battilotti, Semiglobal stabilization via measurement feedback for systems in triangular form, IEEE Conference on Decision and Control Phoenix (U.S.A.), Dicembre 1999.
[C35] S. Battilotti, A general theorem on the semiglobal stabilization of nonlinear uncertain systems via measurement feedback, Nonlinear Control System Design Symposium, Enschede (Netherlands), 1998.
[C34] S. Battilotti, Semiglobal stabilization of uncertain block-feedforward systems via measurement feedback, Nonlinear Control System Design Symposium, Enschede (netherlands), 1998.
[C33] G. Besancon, S. Battilotti, L. Lanari, An example of disturbance attenuation via measurement feedback with global stability, COSY Workshop on Control of Nonlinear and Uncertain Systems, London (U.K.), 1998.
[C32] G. Besancon, S. Battilotti, L. Lanari, State transformation and global output feedback disturbance attenuation for a class of mechanical systems, IEEE Mediterranean Conference, Alghero (italy), 1998.
[C31] S. Battilotti, New results on the semiglobal stabilization of uncertain nonlinear systems via measurement feedback, IEEE Mediterranean Conference, Alghero (Italy), 1998.
[C30] G. Besancon, S. Battilotti, L. Lanari, On output tracking control with disturbance attenuation for Euler-Lagrange systems, IEEE Conference on Decision and Control, Tampa (U.S.A.), 1998.
[C29] S. Battilotti, On state feedback, output injection and detectability in the stabilization of nonlinear interconnected systems, COSY Workshop on Control of Nonlinear and Uncertain Systems, Zurich (Switzerland), 1997.
[C28] S. Battilotti, Further results on global output feedback stabilization of nonlinear systems, European Control Conference, Bruxelles (Belgium), 1997.
[C27] S. Battilotti, A sufficient condition for nonlinear disturbance decoupling with stability via measurement feedback, IEEE Conference on Decision and Control, San Diego (U.S.A.), 3509-3514, 1997.
[C26] S. Battilotti, L. Lanari, R. Ortega, A unified approach to global set point control for rigid and elastic joint robots, Triennal IFAC World Conference, San Francisco (U.S.A.), 1996.
[C25] S. Battilotti, Stabilization of nonlinear systems with norm bounded uncertainties, Triennal IFAC World Conference, San Francisco (U.S.A.), 1996.
[C24] S. Battilotti, L. Lanari, Tracking with disturbance attenuation for rigid robots, IEEE Conference on Robotics and Automation, Minneapolis (U.S.A.), 1996, 1578-1583.
[C23] S. Battilotti, New output feedback controllers for semiglobal stabilization of minimum phase nonlinear systems, European Control Conference, Rome (Italy), 1995, 3047-3051
[C22] S. Battilotti, L. Lanari, Robust control of rigid robots: an H-infinity approach, European Control Conference, Rome (Italy), 1995, 3462-3467
[C21] S. Battilotti, L. Lanari, On optimal controllers for elastic joint robots, IEEE Conference on Decision and Control, New Orleans (U.S.A.), 1995, 2818-2822
[C20] S. Battilotti, L. Lanari, Adaptive disturbance attenuation for elastic joint robots, IEEE Conference on Decision and Control, New Orleans (U.S.A.), 1995, 2823- 2828.
[C19] S. Battilotti, Output feedback stabilization of nonlinear systems: tools and examples, 1st IFAC Workshop on New
[C18] S. Battilotti, S. Di Gennaro, L. Lanari, Output feedback stabilization of a rigid spacecraft with unknown disturbances, IEEE Conference on Decision and Control, Orlando (U.S.A.), 1994, 916-920.
[C17] S. Battilotti, State estimation of nonlinear systems with Markov state reset, IEEE Conference on Decision and Control, 2008.
[C16] S. Battilotti, Control of stochastic feedforward systems with square integrable noise and appended dynamics, IEEE Conference on Decision and Control, San Diego (U.S.A), 2006.
[C15] S. Battilotti, S. Battilotti, Stochastic Stabilization of Nonlinear Systems in Feedforward Form with Noisy Outputs, 5th IFAC Symposium on Nonlinear Control Systems, St. Petersburg (Russia), 2001.
[C14] S. Battilotti, A. De Santis, A new notion of stabilization in probability for nonlinear stochastic systems, Mathematical Theory of Network and Systems, Perpignan (France), 2000.
[C13] C. Califano, S. Battilotti, C. Moog, On the Geometric Interpretation of the Polynomial Lie Bracket for Nonlinear Time-Delay Systems, IEEE Conference on Decision and Control, Las Vegas (U.S.A), December 2016.
[C12] S. Battilotti, C. Califano, A geometric approach to dynamic feedback linearization, European Control Conference, Cambridge, 2003.
[C11] S. Battilotti, C. Califano, Necessary and sufficient geometric conditions for dynamic feedback linearization of systems with two inputs, IFAC Triennal World Congress, 2005.
[C10] S. Battilotti, On the role of connections in global nonlinear noninteracting control via static measurement feedback, Mathematical Theory of Networks and Systems, St. Louis (U.S.A.), 1996.
[C9] S. Battilotti, Noninteraction via measurement feedback for nonlinear systems with relative degree, European Control Conference, Bruxelles (Belgium), 1997.
[C8] S. Battilotti, On geometric invariants in nonlinear noninteracting control, 2nd IFAC Workshop on System Structure and Control, Prague, 1992, 11-14.
[C7] S. Battilotti, Further results on nonlinear noninteracting control with stability via dynamic state-feedback, Nonlinear Control System Design Symposium, Bordeaux (France), 1992, 118-123.
[C6] S. Battilotti, W.P. Dayawansa, Necessary and sufficient conditions for noninteracting control with stability for a class of nonlinear systems, American Control Conference, Boston (U.S.A.), 1991, 1108-1112.
[C5] S. Battilotti, W.P. Dayawansa, Some sufficient conditions for the semiglobal stabilization of globally noninteractive nonlinear systems via dynamic state-feedback, IEEE Conference on Decision and Control, Brighton (U.K.), 1991, 52-57.
[C4] S. Battilotti, A sufficient condition for noninteracting control with stability via dynamic state-feedback, IEEE Conference on Decision and Control, Honolulu (U.S.A.), 1990, 1276-1281.
[C3] M. d'Angelo, S. Battilotti, F. Cacace, A. Germani, B. Sinopoli, Kalman-like Filtering with Intermittent Observations and non-Gaussian Noise, 8th IFAC Workshop on Distributed Estimation and Control in Networked Systems, Chicago, IL, USA, September 16-17, 2019.
[C2] S. Battilotti, M. D'Angelo, Delay-State Dynamics to Filtering Gaussian Systems with Markovian Delayed Measurements, European Control Conference, Napoli, Italy, June 25-28, 2019.
[C1] S. Battilotti, F. Cacace, M. D'Angelo, A. Germani, An Improved Approach to the LQ non-Gaussian Regulator Problem, 20th IFAC Triennal World Congress, Toulouse, France, 9-14 July 2017.