ep27 - Munther Dahleh: L1 control, agile robotic maneuvering, abstractions, cascaded failures, markets, data and systems for societal problems

Outline00:00 - Intro01:31 - Mexico City to Leningrad: a communist girlfriend, and a year of Russian05:40 - Sliding modes at the source10:38 - France: Ioan Landau, Laurent Praly, and dynamic normalization16:25 - Continuity, robustness, and the Rohrs counterexamples24:18 - On Gerhard Kreisselmeier28:04 - Illinois and Mexico 35:31 - Mark Spong, Twente, and passivity-based control46:32 - Energy shaping, damping injection, and total energy shaping49:50 - IDA-PBC, written on a napkin in a Paris café58:09 - Putting Energy Back in Control, Slotine, and the dissipation obstacle1:02:50 - Where good problems come from: knock on the practitioners' door1:06:23 - Immersion and invariance1:13:40 - Power shaping, Brayton and Moser, and shifted passivity 1:19:29 - Power systems and going back to Russia1:27:23 - DREM: the adjugate trick that decouples parameter estimation1:31:11 - Sensorless observers1:34:44 - A seminar in Yakubovich's flat and on data-driven control1:41:47 - Advice to the next generation1:44:43 - OutroLinksRomeo Ortega's website: https://facultad.itam.mx/facultad/romeo-ortega-martinezUtkin, "Variable structure systems with sliding modes": https://doi.org/10.1109/TAC.1977.1101446Variable structure systems with chattering reduction: https://doi.org/10.1016/0005-1098(84)90076-1Robustness of discrete-time direct adaptive controllers (dynamic normalization): https://doi.org/10.1109/TAC.1985.1103890Robustness of adaptive controllers, a survey: https://doi.org/10.1016/0005-1098(89)90023-XComments on the robust stability analysis of adaptive controllers using normalizations: https://doi.org/10.1109/9.28033Feuer & Morse, "Adaptive control of single-input single-output linear systems": https://doi.org/10.1109/TAC.1978.1101822Rohrs, Valavani, Athans & Stein, "Robustness of continuous-time adaptive control algorithms in the presence of unmodeled dynamics": https://doi.org/10.1109/TAC.1985.1104070Åström's commentary on the Rohrs et al. paper: https://doi.org/10.1109/TAC.1985.1104066Hsu & Costa, "Bursting phenomena in continuous-time adaptive systems with a sigma-modification": https://doi.org/10.1109/TAC.1987.1104440Karafyllis & Krstić, "Robust Adaptive Control: Deadzone-Adapted Disturbance Suppression": https://doi.org/10.1137/1.9781611978438Discrete-time model reference adaptive control using generalized sampled-data hold functions: https://doi.org/10.1109/9.50351Kreisselmeier, "The generation of adaptive law structures for globally convergent adaptive observers": https://doi.org/10.1109/TAC.1979.1102066Gao, Bosso, Wang, Saussié & Yi, "Input-output data-driven stabilization of continuous-time linear MIMO systems": https://arxiv.org/abs/2511.06524Adaptive motion control of rigid robots, a tutorial (where "passivity-based control" is coined): https://doi.org/10.1016/0005-1098(89)90054-XTakegaki & Arimoto, "A new feedback method for dynamic control of manipulators": https://doi.org/10.1115/1.3139651Torque regulation of induction motors: https://doi.org/10.1016/0005-1098(93)90059-3Passivity-based Control of Euler-Lagrange Systems: https://doi.org/10.1007/978-1-4471-3603-3PID Passivity-Based Control of Nonlinear Systems with Applications: https://doi.org/10.1002/9781119694199PID passivity-based control of port-Hamiltonian systems (all passive outputs): https://doi.org/10.1109/TAC.2017.2732283Energy-shaping of port-controlled Hamiltonian systems by interconnection: https://doi.org/10.1109/CDC.1999.830260Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems (IFAC High Impact Paper Award 2026): https://doi.org/10.1016/S0005-1098(01)00278-3Putting energy back in control: https://doi.org/10.1109/37.915398Slotine, "Putting physics in control": https://doi.org/10.1109/37.9164Chang, Bloch, Leonard, Marsden & Woolsey, "The equivalence of controlled Lagrangian and controlled Hamiltonian systems": https://doi.org/10.1051/cocv:2002045The matching conditions of controlled Lagrangians and IDA-passivity based control: https://doi.org/10.1080/00207170210135939Control by interconnection and standard passivity-based control of port-Hamiltonian systems: https://doi.org/10.1109/TAC.2008.2006930Ferguson & Borja, "Control-by-interconnection beyond Casimirs and connections to IDA-PBC": https://doi.org/10.1109/TAC.2026.3661486Immersion and invariance, a new tool for stabilization and adaptive control of nonlinear systems: https://doi.org/10.1109/TAC.2003.809820Nonlinear and Adaptive Control with Applications: https://doi.org/10.1007/978-1-84800-066-7Brayton & Moser, "A theory of nonlinear networks I": https://doi.org/10.1090/qam/169746Power shaping, a new paradigm for stabilization of nonlinear RLC circuits: https://doi.org/10.1109/TAC.2003.817918Passivity of nonlinear incremental systems: https://doi.org/10.1016/j.sysconle.2007.03.011Interconnection and damping assignment approach to control of PM synchronous motors: https://doi.org/10.1109/87.960344An energy-shaping approach to the design of excitation control of synchronous generators: https://doi.org/10.1016/S0005-1098(02)00177-2Transient stabilization of multimachine power systems with nontrivial transfer conductances: https://doi.org/10.1109/TAC.2004.840477Conditions for stability of droop-controlled inverter-based microgrids: https://doi.org/10.1016/j.automatica.2014.08.009A parameter estimation approach to state observation of nonlinear systems (PEBO): https://doi.org/10.1016/j.sysconle.2015.09.008Performance enhancement of parameter estimators via dynamic regressor extension and mixing (DREM): https://doi.org/10.1109/TAC.2016.2614889On modified parameter estimators for identification and adaptive control: https://doi.org/10.1016/j.arcontrol.2020.06.002Generalized parameter estimation-based observers (GPEBO): https://doi.org/10.1016/j.automatica.2021.109635Sensorless control of surface-mount permanent-magnet synchronous motors: https://doi.org/10.1109/TPEL.2009.2025276A globally exponentially convergent sensorless observer for the IPMSM: https://doi.org/10.1016/j.automatica.2025.112138Willems, "The behavioral approach to open and interconnected systems": https://doi.org/10.1109/MCS.2007.906923Abramovich, Kuznetsov & Leonov, "V. A. Yakubovich, mathematician, father of the field": https://doi.org/10.1016/j.ifacol.2015.09.150Support the showPodcast infoPodcast website: https://www.incontrolpodcast.com/Apple Podcasts: https://tinyurl.com/5n84j85jSpotify: https://tinyurl.com/4rwztj3cRSS: https://tinyurl.com/yc2fcv4yYoutube: https://tinyurl.com/bdbvhsj6Facebook: https://tinyurl.com/3z24yr43Twitter: https://twitter.com/IncontrolPInstagram: https://tinyurl.com/35cu4kr4Acknowledgments and sponsorsThis episode was supported by the National Centre of Competence in Research on «Dependable, ubiquitous automation» and the IFAC Activity fund. The podcast benefits from the help of an incredibly talented and passionate team. Special thanks to L. Seward, E. Cahard, F. Banis, F. Dörfler, J. Lygeros, ETH studio and mirrorlake . Music was composed by A New Element.

Outline00:00 - Intro08:35 - What is PID control?12:15 - The history: Minorsky, 1922, and steering ships21:00 - The lambda method, IMC, and analytical tuning28:45 - Set-point weighting and two degrees of freedom32:50 - Automatic tuning and the relay feedback problem40:35 - The Lund school and Karl Johan Åström50:20 - PID is nearly optimal57:30 - PID tuning: the elephant in the room1:01:35 - Open problems and the one-third rule1:05:45 - Feedforward: the unsung hero1:15:00 - PID as a building block in large-scale control1:21:40 - Teaching, outsourcing, and lost knowledge1:28:15 - PID in the AI age1:32:25 - Microalgae and sustainable process control1:40:05 - Advice for young researchers and the future of PIDLinksHägglund & Guzmán, "Give us PID controllers and we can control the world": https://doi.org/10.1016/j.ifacol.2024.08.018Minorsky, "Directional Stability of Automatically Steered Bodies": https://doi.org/10.1111/j.1559-3584.1922.tb04958.xHazen, "Theory of Servo-Mechanisms": https://doi.org/10.1016/S0016-0032(34)90254-4Ziegler & Nichols, "Optimum Settings for Automatic Controllers": https://doi.org/10.1115/1.4019264Dahlin, "Designing and Tuning Digital Controllers" (the lambda method): https://skoge.folk.ntnu.no/puublications_others/1968_Dahlin%20-%20Designing%20and%20tuning%20digital%20controllers.pdfRivera, Morari & Skogestad, "Internal Model Control: PID Controller Design": https://skoge.folk.ntnu.no/publications/1986/Rivera86/Rivera86.pdfÅström & Hägglund, "Automatic Tuning of Simple Regulators": https://cse.lab.imtlucca.it/~bemporad/teaching/controllodigitale/pdf/Astrom-ACC89.pdfHägglund & Åström, "Industrial Adaptive Controllers Based on Frequency Response Techniques": https://doi.org/10.1016/0005-1098(91)90052-4Åström & Hägglund, "The Future of PID Control": https://doi.org/10.1016/S0967-0661(01)00062-4Hägglund, "A Unified Discussion on Signal Filtering in PID Control": https://doi.org/10.1016/j.conengprac.2013.03.012Theorin & Hägglund, "Derivative Backoff: The Other Saturation Problem": https://doi.org/10.1016/j.jprocont.2015.06.008Hägglund, mid-ranging control (2021): https://skoge.folk.ntnu.no/puublications_others/apc-papers/midranging-control-vpc-hagglund-2020.pdfGuzmán & Hägglund, "Simple Tuning Rules for Feedforward Compensators": https://doi.org/10.1016/j.jprocont.2010.10.007Guzmán, Hägglund, Veronesi & Visioli, "Performance Indices for Feedforward Control": https://doi.org/10.1016/j.jprocont.2014.12.004Del Hoyo, Hägglund, Guzmán & Moreno: https://doi.org/10.1016/j.conengprac.2023.105636Pawlowski, Guzmán, Normey-Rico & Berenguel, "Improving Feedforward Disturbance Compensation in GPC": Improving feedforward disturbance compensation capabilities in Generalized Predictive ControlGuzmán & Hägglund, "Feedforward Control: Analysis, Design, Tuning Rules, and Implementation": https://books.google.it/books/about/Feedforward_Control.html?id=f_C00AEACAAJNormey-Rico & Guzmán, "Unified PID Tuning Approach for Dead-Time Processes": https://doi.org/10.3182/20120328-3-IT-3014.00006Soltesz & Cervin, "When Is PID a Good Choice?": https://doi.org/10.1016/j.ifacol.2018.06.074Grimholt, PID optimality: https://skoge.folk.ntnu.no/publications/thesis/2018_grimholt/phd-thesis-grimholt-2018.pdfHägglund & Guzmán, "Development of Basic Process Control Structures": https://doi.org/10.1016/j.ifacol.2018.06.202Skogestad, "Advanced Control Using Decomposition and Simple Elements": https://doi.org/10.1016/j.arcontrol.2023.100903Guzmán, Hägglund et al., "Understanding PID Design Through Interactive Tools": https://doi.org/10.3182/20140824-6-ZA-1003.01328ISA-TR5.9-2023, "Proportional-Integral-Derivative Control Algorithms and Performance": https://www.isa.org/products/isa-tr5-9-2023-proportional-integral-derivative-piVilanova & Visioli, "PID Control in the Third Millennium": https://books.google.it/books/about/PID_Controllers.html?id=FsyhngEACAAJBrian Douglas — control engineering education videos: https://engineeringmedia.com/videosA Practical Guide to PID Controller Implementation: https://arxiv.org/abs/2604.15918Support the showPodcast infoPodcast website: https://www.incontrolpodcast.com/Apple Podcasts: https://tinyurl.com/5n84j85jSpotify: https://tinyurl.com/4rwztj3cRSS: https://tinyurl.com/yc2fcv4yYoutube: https://tinyurl.com/bdbvhsj6Facebook: https://tinyurl.com/3z24yr43Twitter: https://twitter.com/IncontrolPInstagram: https://tinyurl.com/35cu4kr4Acknowledgments and sponsorsThis episode was supported by the National Centre of Competence in Research on «Dependable, ubiquitous automation» and the IFAC Activity fund. The podcast benefits from the help of an incredibly talented and passionate team. Special thanks to L. Seward, E. Cahard, F. Banis, F. Dörfler, J. Lygeros, ETH studio and mirrorlake . Music was composed by A New Element.

Outline00:00 - Intro02:25 - Bachelier and the Théorie de la Spéculation03:05 - Stochastic processes, Brownian motion, and the heat equation09:45 - Poincaré's verdict, obscurity, and rediscovery13:50 - Robert C. Merton: from hot rods to MIT19:25 - Dynamic programming and Itô calculus24:35 - Merton's portfolio problem as stochastic optimal control31:10 - Options, dynamic hedging, and the Black–Scholes–Merton equation39:50 - LTCM: the dream team46:30 - August 1998: the crash49:00 - Fat tails and the ten-sigma defense51:40 - The ghosts of 2008 and echoes in the AI boom54:00 - Robustness embraced at last: Hansen and Sargent57:45 - OutroLinksBachelier's thesis, "Théorie de la Spéculation" (1900): https://www.numdam.org/item/10.24033/asens.476.pdfCourtault et al., "Louis Bachelier on the Centenary of Théorie de la Spéculation": https://doi.org/10.1111/1467-9965.00098Merton's Nobel autobiography: https://www.nobelprize.org/prizes/economic-sciences/1997/merton/biographical/Merton's MIT "Infinite History" interview: https://infinite.mit.edu/video/robert-c-merton-phd-%E2%80%9970/Mandelbrot, "The Variation of Certain Speculative Prices": https://doi.org/10.1086/294632Merton, "Optimum Consumption and Portfolio Rules in a Continuous-Time Model": https://doi.org/10.1016/0022-0531(71)90038-XMoehle & Boyd, "A Certainty Equivalent Merton Problem": https://doi.org/10.1109/LCSYS.2021.3111534Brigo & Mercurio, "Interest Rate Models: Theory and Practice": https://doi.org/10.1007/978-3-540-34604-3Armstrong, Brigo & Hanzon, "Optimal Projection Filters with Information Geometry": https://doi.org/10.1007/s41884-023-00108-xHu & Zhou, "Constrained Stochastic LQ Control with Random Coefficients, and Application to Portfolio Selection": https://doi.org/10.1137/S0363012904441969Black & Scholes, "The Pricing of Options and Corporate Liabilities": https://doi.org/10.1086/260062Merton, "Theory of Rational Option Pricing": https://doi.org/10.2307/3003143Merton, "Option Pricing When Underlying Stock Returns Are Discontinuous": https://doi.org/10.1016/0304-405X(76)90022-2Scholes' Nobel lecture: https://www.nobelprize.org/prizes/economic-sciences/1997/scholes/lecture/Merton's Nobel lecture: https://www.nobelprize.org/prizes/economic-sciences/1997/merton/lecture/Markowitz, "Portfolio Selection": https://doi.org/10.2307/2975974Michael Lewis, "Liar's Poker": https://en.wikipedia.org/wiki/Liar%27s_PokerEdwards, "Hedge Funds and the Collapse of Long-Term Capital Management": https://doi.org/10.1257/jep.13.2.189Lowenstein, "When Genius Failed": https://en.wikipedia.org/wiki/When_Genius_FailedTaleb, "Statistical Consequences of Fat Tails": https://arxiv.org/abs/2001.10488Taleb & West, "Working with Convex Responses: Antifragility from Finance to Oncology": https://doi.org/10.3390/e25020343Taleb, "The Black Swan": https://en.wikipedia.org/wiki/The_Black_Swan:_The_Impact_of_the_Highly_ImprobableTaleb, "Fooled by Randomness": https://en.wikipedia.org/wiki/Fooled_by_RandomnessMan Group, "The AI Bubble: Hidden Risks and Opportunities": https://www.man.com/insights/the-ai-bubbleSen. Warren's remarks at the Vanderbilt Policy Accelerator: https://www.banking.senate.gov/newsroom/minority/warren-remarks-at-vanderbilt-policy-accelerator-event-highlighting-economic-and-financial-risks-of-potential-ai-crashMeng & Chen, "Artificial Intelligence and Systemic Risk": https://arxiv.org/abs/2604.03272Doyle, "Guaranteed Margins for LQG Regulators": https://doi.org/10.1109/TAC.1978.1101791Safonov & Athans, "Gain and Phase Margin for Multiloop LQG Regulators": https://doi.org/10.1109/TAC.1977.1101470Hansen & Sargent, "Robust Control and Model Uncertainty": https://doi.org/10.1257/aer.91.2.60Hansen & Sargent, "Wanting Robustness in Macroeconomics": http://www.tomsargent.com/research/wanting.pdfSupport the showPodcast infoPodcast website: https://www.incontrolpodcast.com/Apple Podcasts: https://tinyurl.com/5n84j85jSpotify: https://tinyurl.com/4rwztj3cRSS: https://tinyurl.com/yc2fcv4yYoutube: https://tinyurl.com/bdbvhsj6Facebook: https://tinyurl.com/3z24yr43Twitter: https://twitter.com/IncontrolPInstagram: https://tinyurl.com/35cu4kr4Acknowledgments and sponsorsThis episode was supported by the National Centre of Competence in Research on «Dependable, ubiquitous automation» and the IFAC Activity fund. The podcast benefits from the help of an incredibly talented and passionate team. Special thanks to L. Seward, E. Cahard, F. Banis, F. Dörfler, J. Lygeros, ETH studio and mirrorlake . Music was composed by A New Element.

Outline 00:00 - Intro 02:10 - London in the 1960s12:40 - From Oxford to Imperial College: David Mayne and the discrete-time Riccati equation 18:05 - The "global tour": Montenegro roads, hitch-hiking to Istanbul, and the San Francisco waterfront 22:30 - Feedback and causality between stochastic processes 31:15 - The system identification years 40:50 - Model complexity, the bias–variance trade-off, and concentration inequalities 52:05 - Adaptive control: living through a golden era 1:00:30 - McGill, George Zames, and CIFAR's "institute without walls," and COCOLOG 1:09:45 - Mean field games: the China connection, the cell-phone problem, and Nash Certainty Equivalence 1:20:15 - The Lasry–Lions simultaneous discovery 1:24:40 - From graphons to graphexons: sparse networks, Laplexions, and geometry 1:31:00 - Linear Stochastic Systems, Popper, and falsifiability 1:35:20 - Advice to young researchers 1:38:00 - OutroLinks Peter Caines' website: https://www.mcgill.ca/cim/caines Linear Stochastic Systems: https://epubs.siam.org/doi/book/10.1137/1.9781611974713  On the discrete-time matrix Riccati equation of optimal control: https://doi.org/10.1080/00207177008931892 Feedback between stationary stochastic processes: https://doi.org/10.1109/TAC.1975.1101008 Prediction-error identification methods for stationary stochastic processes: https://doi.org/10.1109/TAC.1976.1101304 Asymptotic normality of prediction-error estimators for approximate system models: https://doi.org/10.1109/CDC.1978.268066 Discrete-time multivariable adaptive control (Axelby Award): https://doi.org/10.1109/TAC.1980.1102363 Discrete-time stochastic adaptive control: https://doi.org/10.1137/0319052 25 seminal control papers of the 20th century: https://books.google.ca/books/about/Control_Theory.html?id=eVhGAAAAYAAJ COCOLOG: A conditional observer and controller logic for finite machines: https://epubs.siam.org/doi/10.1137/S0363012992226636 Hierarchical hybrid control systems: https://doi.org/10.1109/9.664153 On the hybrid optimal control problem: https://ieeexplore.ieee.org/document/4303244Bode Lecture: https://ieeecss.org/presentation/bode-lecture/mean-field-stochastic-control The cell-phone problem - Large population stochastic wireless power control: https://doi.org/10.1109/CDC.2003.1272542 Large-population stochastic dynamic games - McKean-Vlasov and the Nash Certainty Equivalence principle: https://projecteuclid.org/journals/communications-in-information-and-systems/volume-6/issue-3/Large-population-stochastic-dynamic-games--closed-loop-McKean-Vlasov/cis/1183728987.full Large-population cost-coupled LQG with nonuniform agents and decentralized ε-Nash equilibria: https://doi.org/10.1109/TAC.2007.904450 Social optima in mean field LQG control: https://doi.org/10.1109/TAC.2012.2183439 ε-Nash mean field games with major and minor agents: https://arxiv.org/abs/1209.5684 Graphon mean field games and their equations: https://doi.org/10.1137/20M136373X Mean field games on large sparse network limits - Laplexion dynamics on graphexons: https://www.sciencedirect.com/science/article/pii/S240589632500388X Murray Wonham oral history: https://www.youtube.com/watch?v=8IBZyRo0vDkSupport the showPodcast infoPodcast website: https://www.incontrolpodcast.com/Apple Podcasts: https://tinyurl.com/5n84j85jSpotify: https://tinyurl.com/4rwztj3cRSS: https://tinyurl.com/yc2fcv4yYoutube: https://tinyurl.com/bdbvhsj6Facebook: https://tinyurl.com/3z24yr43Twitter: https://twitter.com/IncontrolPInstagram: https://tinyurl.com/35cu4kr4Acknowledgments and sponsorsThis episode was supported by the National Centre of Competence in Research on «Dependable, ubiquitous automation» and the IFAC Activity fund. The podcast benefits from the help of an incredibly talented and passionate team. Special thanks to L. Seward, E. Cahard, F. Banis, F. Dörfler, J. Lygeros, ETH studio and mirrorlake . Music was composed by A New Element.

Outline00:00 - Intro 01:30 - Origin story: Naples, electrical engineering, and the fascination with chaos 08:00 - What is chaos?15:00 - DC-DC converters and discontinuity-induced bifurcations 22:00 - Piecewise-smooth dynamical systems26:55 - Complex networks, synchronization, and pinning control 40:30- Synthetic biology: from gene regulatory networks to multicellular control58:00 - COVID-19: a network epidemic model for Italy 1:02:00 - Multiscale control, statistical mechanics, and physics-informed control 1:19:10 - State of the field and the IEEE CSS 1:26:35 - Advice to young researchers 1:29:00 - OutroLinks Mario's website: https://sites.google.com/site/dibernardogroup/home Scuola Superiore Meridionale: https://www.ssm.unina.it/ Chaos by James Gleick: https://en.wikipedia.org/wiki/Chaos:_Making_a_New_Science Control of chaos:https://en.wikipedia.org/wiki/Control_of_chaosErasmus programme: https://en.wikipedia.org/wiki/Erasmus_Programme An Adaptive Approach to the Control and Synchronization of Continuous-time Chaotic Systems: https://doi.org/10.1142/S0218127496000254Piecewise-smooth Dynamical Systems: Theory and Applications: https://doi.org/10.1007/978-1-84628-708-4 Bifurcations in nonsmooth dynamical systems: https://doi.org/10.1137/050625060 Controllability of complex networks via pinning:https://doi.org/10.1103/PhysRevE.75.046103 Criteria for global pinning-controllability of complex networks: https://doi.org/10.1016/j.automatica.2008.07.007Controllability of complex networks: https://doi.org/10.1038/nature10011Controlling complex networks with complex nodes: https://doi.org/10.1038/s42254-023-00566-3Analysis, design and implementation of a novel scheme for in-vivo control of synthetic gene regulatory networks: https://doi.org/10.1016/j.automatica.2011.01.073In-vivo Real-time Control of Protein Expression from Endogenous and Synthetic Gene Networks: https://doi.org/10.1371/journal.pcbi.1003625A network model of Italy shows that intermittent regional strategies can alleviate the COVID-19 epidemic: https://doi.org/10.1038/s41467-020-18827-5A Continuification-Based Control Solution for Large-Scale Shepherding: https://arxiv.org/abs/2411.04791Shepherding control and herdability in complex multiagent systems: https://doi.org/10.1103/PhysRevResearch.6.L032012Nonreciprocal field theory for decision-making in multi-agent control systems: https://doi.org/10.1038/s41467-025-63071-4Support the showPodcast infoPodcast website: https://www.incontrolpodcast.com/Apple Podcasts: https://tinyurl.com/5n84j85jSpotify: https://tinyurl.com/4rwztj3cRSS: https://tinyurl.com/yc2fcv4yYoutube: https://tinyurl.com/bdbvhsj6Facebook: https://tinyurl.com/3z24yr43Twitter: https://twitter.com/IncontrolPInstagram: https://tinyurl.com/35cu4kr4Acknowledgments and sponsorsThis episode was supported by the National Centre of Competence in Research on «Dependable, ubiquitous automation» and the IFAC Activity fund. The podcast benefits from the help of an incredibly talented and passionate team. Special thanks to L. Seward, E. Cahard, F. Banis, F. Dörfler, J. Lygeros, ETH studio and mirrorlake . Music was composed by A New Element.

Outline00:00 - Intro01:15 - Origin story: early path and the road to science 04:20 - On graphical visualization and aphantasia 08:08 - The interest in fluid dynamics 12:00 - Caltech, Jerry Marsden, and the move to the Pacific time zone 19:43 - Dynamic Mode Decomposition (DMD) and the Koopman operator 27:15 - On teaching and the Eigensteve channel 39:22 - SINDy: Sparse Identification of Nonlinear Dynamics 45:45 - Automatic knowledge creation and Explainable AI 54:31 - HydroGym: RL benchmarks for fluid flow control 1:01:37 - Optimization boot camp 1:05:31 - Collimator 1:13:18 - OutroLinksSteve's website: https://www.eigensteve.com/ Eigensteve channel: https://www.youtube.com/c/eigensteve Jerrold E. Marsden: https://en.wikipedia.org/wiki/Jerrold_E._Marsden Aphantasia: https://en.wikipedia.org/wiki/Aphantasia J. Nathan Kutz: https://amath.washington.edu/people/j-nathan-kutz Clarence W. Rowley: https://cwrowley.princeton.edu/DMD: https://en.wikipedia.org/wiki/Dynamic_mode_decomposition Koopman operator: https://en.wikipedia.org/wiki/Koopman_operator Dynamic Mode Decomposition book: https://epubs.siam.org/doi/book/10.1137/1.9781611974508 On Dynamic Mode Decomposition paper: https://doi.org/10.3934/jcd.2014.1.391 DMD with control: https://arxiv.org/abs/1409.6358 Compressed sensing and DMD: https://doi.org/10.3934/jcd.2015002 Modern Koopman Theory for Dynamical Systems: https://arxiv.org/abs/2102.12086 Deep learning for universal linear embeddings of nonlinear dynamics: https://doi.org/10.1038/s41467-018-07210-0 Data-driven discovery of Koopman eigenfunctions for control: https://doi.org/10.1088/2632-2153/abf0f5 PyDMD: https://github.com/PyDMDDiscovering governing equations from data by sparse identification of nonlinear dynamical systems: https://doi.org/10.1073/pnas.1517384113 Data-driven discovery of partial differential equations:https://doi.org/10.1126/sciadv.1602614 SINDy for model predictive control in the low-data limit:https://doi.org/10.1098/rspa.2018.0335PySINDy: https://github.com/dynamicslab/pysindy SINDy with control: https://arxiv.org/abs/2108.13404 SINDy review: https://doi.org/10.1146/annurev-control-030123-015238Data-Driven Science and Engineering: Machine Learning, Dynamical Systems, and Control: http://www.databookuw.comExplainable AI: Learning from the Learners: https://arxiv.org/abs/2601.05525HydroGym: https://github.com/dynamicslab/hydrogymSupport the showPodcast infoPodcast website: https://www.incontrolpodcast.com/Apple Podcasts: https://tinyurl.com/5n84j85jSpotify: https://tinyurl.com/4rwztj3cRSS: https://tinyurl.com/yc2fcv4yYoutube: https://tinyurl.com/bdbvhsj6Facebook: https://tinyurl.com/3z24yr43Twitter: https://twitter.com/IncontrolPInstagram: https://tinyurl.com/35cu4kr4Acknowledgments and sponsorsThis episode was supported by the National Centre of Competence in Research on «Dependable, ubiquitous automation» and the IFAC Activity fund. The podcast benefits from the help of an incredibly talented and passionate team. Special thanks to L. Seward, E. Cahard, F. Banis, F. Dörfler, J. Lygeros, ETH studio and mirrorlake . Music was composed by A New Element.

Outline00:00 – Intro04:43 – Life and background08:45 – Bell Labs13:42 – Inventing the negative feedback amplifier18:15 – Nyquist's landmark contributions20:43 – Regeneration theory27:10 – Frequency response32:03 – Cauchy’s argument principle36:05 – The Nyquist criterion41:37 – Why is it so hard?45:27 – Robustness, margins, and practical aspects56:41 – Beyond the Nyquist criterion1:04:25 – Pitfalls and common misunderstandings1:07:00 – OutroLinksBrian Douglas's video: http://y2u.be/sof3meN96MAThe Idea Factory: https://en.wikipedia.org/wiki/The_Idea_FactoryInventing the Negative Feedback Amplifier: https://doi.org/10.1109/MSPEC.1977.6501721Johnson–Nyquist noise:  https://doi.org/10.1103/PhysRev.32.110Nyquist sampling theorem: https://en.wikipedia.org/wiki/Nyquist%E2%80%93Shannon_sampling_theoremRegeneration theory: https://doi.org/10.1002/j.1538-7305.1932.tb02344.xGain and phase margins: https://en.wikipedia.org/wiki/Bode_plot#Gain_margin_and_phase_marginRouth–Hurwitz criterion: https://en.wikipedia.org/wiki/Routh%E2%80%93Hurwitz_stability_criterionÅström’s lecture: https://archive.control.lth.se/media/Staff/KarlJohanAstrom/Lectures/ASMENyquistLecture2005.pdfScale-Relative Graphs: https://doi.org/10.1109/TAC.2023.3234016Support the showPodcast infoPodcast website: https://www.incontrolpodcast.com/Apple Podcasts: https://tinyurl.com/5n84j85jSpotify: https://tinyurl.com/4rwztj3cRSS: https://tinyurl.com/yc2fcv4yYoutube: https://tinyurl.com/bdbvhsj6Facebook: https://tinyurl.com/3z24yr43Twitter: https://twitter.com/IncontrolPInstagram: https://tinyurl.com/35cu4kr4Acknowledgments and sponsorsThis episode was supported by the National Centre of Competence in Research on «Dependable, ubiquitous automation» and the IFAC Activity fund. The podcast benefits from the help of an incredibly talented and passionate team. Special thanks to L. Seward, E. Cahard, F. Banis, F. Dörfler, J. Lygeros, ETH studio and mirrorlake . Music was composed by A New Element.

Outline00:00 - Intro02:55 - Brachistochrone problem20:52 - Beginning of the calculus of variations32:00 - Principle of least action42:37 - Maximum principle1:02:35 - Dynamic programming1:11:12 - Linear quadratic control1:16:37 - Beyond optimal control: games, nonsmooth analysis, MPC, RL1:28:40 - OutroLinks300 years of optimal control: https://tinyurl.com/2s3t8se4Brachistochrone: https://tinyurl.com/mwmv38ewActa Eruditorum, 1696: https://tinyurl.com/55yf5v49Acta Eruditorum, 1697: https://tinyurl.com/2a7msaajBernoulli family: https://tinyurl.com/y2vx2xdnLeibniz–Newton calculus controversy: https://tinyurl.com/3974fdhdCalculus of variations: https://tinyurl.com/3vvz8tufBeginning of the Calculus of Variations: https://tinyurl.com/mv6btxfnLagrangian mechanics: https://tinyurl.com/ycx5fv46Euler–Lagrange equation: https://tinyurl.com/53yybvyxHamiltonian mechanics: https://tinyurl.com/yfrd8zhzHamilton–Jacobi equation: https://tinyurl.com/46m9cuvsPontryagin: https://tinyurl.com/35ehxnexPontryagin’s autobiography:  https://ega-math.narod.ru/LSP/book.htmDiscovery of the Maximum Principle: https://tinyurl.com/3s43nv4tMaximum Principle: https://tinyurl.com/4f7352t4Goddard problem: https://tinyurl.com/5n8swp2mHamilton–Jacobi–Bellman equation: https://tinyurl.com/4uemn5y4Kalman filter: https://tinyurl.com/39zx5yryClarke: https://tinyurl.com/yj2tzcjbMPC: https://tinyurl.com/4sf5pzvy RL: https://tinyurl.com/ee5ne7szAlphaGo: https://tinyurl.com/ydrf8jscSupport the showPodcast infoPodcast website: https://www.incontrolpodcast.com/Apple Podcasts: https://tinyurl.com/5n84j85jSpotify: https://tinyurl.com/4rwztj3cRSS: https://tinyurl.com/yc2fcv4yYoutube: https://tinyurl.com/bdbvhsj6Facebook: https://tinyurl.com/3z24yr43Twitter: https://twitter.com/IncontrolPInstagram: https://tinyurl.com/35cu4kr4Acknowledgments and sponsorsThis episode was supported by the National Centre of Competence in Research on «Dependable, ubiquitous automation» and the IFAC Activity fund. The podcast benefits from the help of an incredibly talented and passionate team. Special thanks to L. Seward, E. Cahard, F. Banis, F. Dörfler, J. Lygeros, ETH studio and mirrorlake . Music was composed by A New Element.

Outline00:00 - Intro03:18 - Early days: why control, M. Athans, and IDSS12:21 - What is gain scheduling?33:37 - Paradigm shifts & the ‘90s: Minnesota → Texas → LA 42:19 - Robustness & fundamental limitations of nonlinear systems57:35 - Set-valued control & estimation01:04:52 - Game theory & multi-agent control 01:28:18 - Learning & dissipativity in games & multi agent AI01:45:03 - KAUST: building something new01:53:33 - On human-algorithmic interaction01:59:07 - Advice to future students: control, jiu-jitsu, and chatbots in education2:10:02 - OutroLinksJeff’s website: https://tinyurl.com/52btmmz7CSM interview: https://tinyurl.com/49wh98x7Domain: feedbackcontrol.comM. Athans: https://tinyurl.com/nhbw66waPhD thesis: https://tinyurl.com/5eyxkfm6IDSS: https://tinyurl.com/bdenwy6dResearch on gain scheduling: https://tinyurl.com/55se8zcr Overview of LPV systems: https://tinyurl.com/3ksff58b Åström’s lecture: https://tinyurl.com/33mxkkfe Necessity of the small gain theorem: https://tinyurl.com/mjn9eeb4 Sensitivity reduction for nonlinear plants: https://tinyurl.com/23tej5ypRespect the unstable: https://tinyurl.com/3yww5eds Differential inclusion: https://tinyurl.com/4yvc8vccLectures on game theory: https://tinyurl.com/4z8hh3rnDynamic fictitious play: https://tinyurl.com/yc6wsxjjCooperative control and potential games: https://tinyurl.com/4hbmrt72Dissipativity theory in game theory: https://tinyurl.com/3theyc7xPopulation games, stable games, and passivity: https://tinyurl.com/zxwtzv6wGame theory and control: https://tinyurl.com/yencrwm3Higher-order uncoupled learning: https://tinyurl.com/376r5r9xSupport the showPodcast infoPodcast website: https://www.incontrolpodcast.com/Apple Podcasts: https://tinyurl.com/5n84j85jSpotify: https://tinyurl.com/4rwztj3cRSS: https://tinyurl.com/yc2fcv4yYoutube: https://tinyurl.com/bdbvhsj6Facebook: https://tinyurl.com/3z24yr43Twitter: https://twitter.com/IncontrolPInstagram: https://tinyurl.com/35cu4kr4Acknowledgments and sponsorsThis episode was supported by the National Centre of Competence in Research on «Dependable, ubiquitous automation» and the IFAC Activity fund. The podcast benefits from the help of an incredibly talented and passionate team. Special thanks to L. Seward, E. Cahard, F. Banis, F. Dörfler, J. Lygeros, ETH studio and mirrorlake . Music was composed by A New Element.

Outline00:00 - Intro05:01 - Female Influencers in Control — The Backstory08:08 - Sofya Kovalevskaya15:21 - Irmgard Lotz26:16 - A new wave of control influencers34:26 - Some data43:38 - What can one do? 1:00:10 - Exhibition + survey1:05:21 - OutroLinksFemale influencers in control project: https://tinyurl.com/mv879ahfCharlotta Johnsson: https://tinyurl.com/343esbeuEva Westin: https://tinyurl.com/3p6fd5n8Margret Bauer: https://tinyurl.com/47d35xzbSofya Kovalevskaya: https://tinyurl.com/4mmzruwcRemembering Sofya Kovalevskaya: https://tinyurl.com/4cpw7vffIrmgard Lotz: https://tinyurl.com/y2exmndmFlow Computation Pioneer Irmgard Flügge-Lotz (1903–1974): https://tinyurl.com/4cy3xsp3Discontinuous Automatic Control: https://tinyurl.com/yeys5dxxHistorical Female Influencers in Automatic Control: https://tinyurl.com/yxw4bjxeActivity report: https://tinyurl.com/jwzn4z3cSupport the showPodcast infoPodcast website: https://www.incontrolpodcast.com/Apple Podcasts: https://tinyurl.com/5n84j85jSpotify: https://tinyurl.com/4rwztj3cRSS: https://tinyurl.com/yc2fcv4yYoutube: https://tinyurl.com/bdbvhsj6Facebook: https://tinyurl.com/3z24yr43Twitter: https://twitter.com/IncontrolPInstagram: https://tinyurl.com/35cu4kr4Acknowledgments and sponsorsThis episode was supported by the National Centre of Competence in Research on «Dependable, ubiquitous automation» and the IFAC Activity fund. The podcast benefits from the help of an incredibly talented and passionate team. Special thanks to L. Seward, E. Cahard, F. Banis, F. Dörfler, J. Lygeros, ETH studio and mirrorlake . Music was composed by A New Element.