ep36 - Markos Papageorgiou: Traffic Control — Theory and Practice

Outline00:00 – Intro00:51 – Early steps in research09:55 – Historical overview of traffic control25:20 – What is traffic?34:06 – Road traffic control45:37 – PI control of road junctions58:19 – From macroscopic to microscopic simulations and back1:10:08 – Dynamic traffic assignment1:21:28 – Return to Greece1:28:33 – The optimal control problem1:41:48 – Traffic estimation1:47:34 – The impact of automation and connectivity1:59:20 – Traffic as an artificial fluid2:07:51 – The future of traffic control2:10:48 – Advice to future students2:13:53 – OutroLinkHomepage: https://tinyurl.com/yw7kee97CSS day lecture: https://tinyurl.com/46vua4r7Monograph - Applications of Automatic Control Concepts to Traffic Flow Modeling and Control: https://tinyurl.com/5czax788Review of road traffic control strategies: https://tinyurl.com/48u235pwALINEA: https://tinyurl.com/bdtvny87METANET: https://tinyurl.com/3h9xv48tAIMSUM:https://tinyurl.com/mr2xkryjAMOC: https://tinyurl.com/3v2xysr2HERO: https://tinyurl.com/yzn6vkwhReal-time freeway traffic state estimation based on extended Kalman filter: a general approach: https://tinyurl.com/2ubsh7cyTRAMAN: https://tinyurl.com/ypr65cfaCoordinated and integrated control of motorway networks via non-linear optimal control: https://tinyurl.com/3v2xysr2Motorway traffic flow modelling, estimation and control with vehicle automation and communication systems: https://tinyurl.com/49679hy8From road congestion to vehicle-control enabled artificial traffic fluids: https://tinyurl.com/pk4j8htpSupport 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 01:19 – Early steps: PhD journey & robotic hands 15:42 – What is a soft robot?23:35 – MIT years & models of soft robots 30:01 – Discretization & underactuation 37:21 – The regulation problem 47:01 – Pros and cons of soft robots 51:42 – The soft inverted pendulum 1:05:27 – Eigenmanifolds 1:15:22 – Physical intelligence 1:26:09 – On machine learning 1:37:49 – Embodied AI & TC on Robot Control 1:44:50 – Advice to future studentsLinks- Cosimo’s website: https://tinyurl.com/mt37597k- Piaggio Center: https://tinyurl.com/muryjw5h- Pisa Robotic Hand: https://tinyurl.com/4ujtec59- Model-Based Dynamic Controller for a Planar Soft Robot: https://tinyurl.com/5a8fv3c8 - Soft Robot definition (Encyclopaedia of Robotics): https://tinyurl.com/3y2jz987 - Isidori’s book: https://tinyurl.com/42254hav- CSM magazine paper: https://tinyurl.com/bd54an6x- Cosserat rod theory: https://tinyurl.com/zu73nadx - Strain function: https://tinyurl.com/y8v63ue2- Zero dynamics: https://tinyurl.com/2ezarn5e- The soft inverted pendulum: https://tinyurl.com/y4bzkkup- Templates and anchors: https://tinyurl.com/2957w6sz- Exciting Efficient Oscillations Through Eigenmanifold Stabilisation: https://tinyurl.com/yc3586y5- When Do Lyapunov Subcentre Manifolds Become Eigenmanifolds?: https://tinyurl.com/5tckw7xe- Passive walker: https://tinyurl.com/yjwwapv5- Strandbeests: https://tinyurl.com/494mfccu - Physical control: https://tinyurl.com/bdddb6ur- Morphological computation: https://tinyurl.com/an6vaahx- The Playful Machine: https://tinyurl.com/5525xys2Support 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 - Intro01:06 - The big idea03:42 - Controllability, observability, and  ... the space race!14:52 - Kálmán and the state-space paradigm00:00 - The math and intuition: state-space basics, definitions, and duality00:00 - A touch of nonlinearity00:00 - Developments in the field: a chronological tour00:00 - Controllability and observability: quo vaditis?00:00 - OutroLinksKálmán: https://tinyurl.com/bdzj7mtrControllability: https://tinyurl.com/28s5zxpnObservability: https://tinyurl.com/yjxncxdnPaper - "Contributions to the theory of optimal control": https://tinyurl.com/9wwf8pvhPaper - "Discovery and Invention": https://tinyurl.com/ryfn463nKálmán's speech -  Kyoto Prize : https://tinyurl.com/2ahrjdahPaper - Controllability of complex networks: https://tinyurl.com/3zk99n4sSupport 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 - Intro00:42 - “Research should be fun”02:02 - Early steps in research09:00 - Book writing and meeting C. Desoer18:33 - Control synthesis via the factorization approach25:46 - The graph metric 29:27 - Robotics and CAIR36:00 - Randomized algorithms40:41 - On learning44:05 - Neural networks48:40 - Tata, hidden Markov models, and large deviations theory55:48 - Picking problems and role of luck58:07 - Compressed sensing and non-convex optimization01:02:17 - Interplay between control and machine learning01:09:10 - Advice to future students01:13:29 - Future of controlLinksSagar’s website: https://tinyurl.com/4hwruajsHilbert: https://tinyurl.com/ykpdh929Feedback Systems: https://tinyurl.com/2k3jsdatHow to Write Mathematics: https://tinyurl.com/35794bv9Nonlinear systems: https://tinyurl.com/2fdtnjcmC. Desoer: https://tinyurl.com/svhknrenControl Systems Synthesis — A Factorization Approach: https://tinyurl.com/59wdc4svAryabhata: https://tinyurl.com/43x6hfhpA Brief History of the Graph Topology: https://tinyurl.com/49uftzdkRobot Dynamics and Control: https://tinyurl.com/5b4cmt7mCAIR: https://tinyurl.com/rajdtxaxRandomized algorithms for robust controller synthesis using statistical learning theory: https://tinyurl.com/wanpyeucR. Tempo: https://tinyurl.com/jkufdwarVC dimension: https://tinyurl.com/mvwk8afmLearning and Generalisation: https://tinyurl.com/2s3mzh8hAre Analog Neural Networks Better Than Binary Neural Networks? https://tinyurl.com/3fnk27xcHidden Markov Processes: https://tinyurl.com/t5frrvfzAn Introduction to Compressed Sensing: https://tinyurl.com/fc6a8eerSupport 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 and early steps in control06:42 - Journey to the US08:30 - Kharitonov's theorem and early influences12:10 - From Lund to KTH (Stockholm)15:01 - Ascona and collaboration with Megretski24:06 - The IMA year in Minnesota33:50 - Integral quadratic constraints46:10 - KYP lemma and meeting Yakubovich52:35 - Piecewise hybrid systems59:41 - Dual to Lyapunov theorem1:06:48 -  Positivity and large scale systems1:15:25 - Adaptive and dual control1:25:24 - Future research directionsLinks Master's thesis: https://tinyurl.com/vnkuf44a Kharitonov's theorem: https://tinyurl.com/3w3a3z52IMA: https://cse.umn.edu/imaLCCC: http://www.lccc.lth.se/Real stability radius paper: https://tinyurl.com/yc79zt58IQC paper: https://tinyurl.com/mw2te4vwKYP lemma paper: https://tinyurl.com/2fv32yw6Piecewise quadratic Lyapunov functions for hybrid systems: https://tinyurl.com/38a5f432Piecewise linear quadratic optimal control: https://tinyurl.com/yhddbhpxFast switches in relay feedback systems: https://tinyurl.com/23e95k9nDual to Lyapunov's stability theorem: https://tinyurl.com/yc2uf652ECC’15 plenary: https://tinyurl.com/sy3k7vf7Scalable control of positive systems: https://tinyurl.com/3vcda447Tutorial on Positive Systems and Large Scale Control: https://tinyurl.com/3e4fkxz8KYP lemma for positive systems: https://tinyurl.com/3pdp3p7pCDC’25 plenary: https://tinyurl.com/497py5whData driven Riccati equation: https://tinyurl.com/3swjtvabSupport 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 - Intro01:07 - Early steps02:47 - Why control?05:20 - The move to the US07:40 - The first journal paper13:30 - What is backstepping?17:08 - Grad school25:10 - Stochastic stabilization29:53 - The interest in PDEs43:24 - Navier-Stokes equations52:12 - Hyperbolic PDEs and traffic models57:51 - Predictors for long delays1:08:14 - Extremum seeking1:27:14 - Safe control1:36:30 - Interplay between machine learning and control1:42:28 - Back to the roots: robust adaptive control1:50:50 - On service1:55:54 - AdviceLinksMiroslav’s site: https://flyingv.ucsd.edu/Tuning functions paper: https://tinyurl.com/yznv6r9rP. Kokotović: https://tinyurl.com/mwmbm9yhSeparation and swapping:  https://tinyurl.com/y4fre6t8Adaptive nonlinear stabilizers: https://tinyurl.com/4a9wmmvxKKK book: https://tinyurl.com/2kw2b4k6Stochastic nonlinear stabilization: https://tinyurl.com/4td3537aFollow-up with unknown covariance: https://tinyurl.com/4c4n7fd7Boundary state feedbacks for PIDEs: https://tinyurl.com/4e9y4tdrBoundary Control of PDEs: https://tinyurl.com/d8x38bmjStabilization of Navier–Stokes systems: https://tinyurl.com/4a8cbjemTraffic congestion control: https://tinyurl.com/525jphs5Delay compensation: https://tinyurl.com/5yz6uj9pNonlinear predictors for long delays: https://tinyurl.com/7wvce6vyStability of extremum seeking: https://tinyurl.com/mr5cvzd3Nash equilibrium seeking: https://tinyurl.com/yeywrysnInverse optimal safety filters: https://tinyurl.com/9dkrpvkkNeural operators for PDE control: https://tinyurl.com/5yynsp7vBode lecture: https://tinyurl.com/mp92cs9uCSM article: Support 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 - Intro03:26 - Development: ETH Zürich07:15 - Growth: Minnesota and Wisconsin36:16 - Productivity: Caltech53:28 - Change: ETH Zürich01:37:18 - Continuity: University of Pennsylvania01:45:36 - OutroLinksManfred’s website: https://tinyurl.com/mryp38w3Farewell lecture: https://tinyurl.com/2j5uxsp4Laying the foundations: an advisor’s perspective: https://tinyurl.com/ym5e4437Internal model control. A unifying review and some new results:  https://tinyurl.com/vmm7a4tkInternal model control - PID controller design: https://tinyurl.com/rup3azjmRobust process control: https://tinyurl.com/8uhurkubRobust control of ill-conditioned plants: high-purity distillation: https://tinyurl.com/5xfty34cComputational complexity of \mu calculation: https://tinyurl.com/24yvvcc7Robust constrained model predictive control using linear matrix inequalities: https://tinyurl.com/3pdk55kkControl of systems integrating logic, dynamics, and constraints: https://tinyurl.com/489ekvsnThe explicit linear quadratic regulator for constrained systems: https://tinyurl.com/mr2e3z83Model predictive control: https://tinyurl.com/2s4dafkd Parametric programming: https://tinyurl.com/2u9vj79yEmbotech: https://tinyurl.com/3f99ks65Embedded online optimization for model predictive control at megahertz rates: https://tinyurl.com/59z3vnb9Donoho’s “Bridge from mathematical to digital and back”: https://tinyurl.com/3f9fk73wSupport 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 - Intro02:42 - Early life10:24 - WWII, Johns Hopkins, Belleville, Madison 17:17 - Princeton 20:30 - Los Alamos24:12 - Back to Princeton31:01 - RAND + Stanford 42:10 - Dynamic programming46:06 - Project matterhorn51:00 - Back to RAND56:14 - Curse of dimensionality1:02:41 - Divorce and remarriage1:08:29 - Greenglass affair1:14:21 - USC1:18:55 - Center for the Study of Democratic Institutions1:22:55 - Last years1:26:08 - OutroLinksR. Bellman: https://tinyurl.com/ydkmwexyC. M. Bellman: https://tinyurl.com/yfbafetjDynamic programming: https://tinyurl.com/mtsuamprCurse of dimensionality: https://tinyurl.com/383yads8Hamilton-Jacobi-Bellman equation: https://tinyurl.com/muu4ckvsBellman equation: https://tinyurl.com/y8bvzztmGrönwall-Bellman inequality: https://tinyurl.com/mrwdxzd8 S. Lefschetz: https://tinyurl.com/2s39nnzvRAND corporation: https://tinyurl.com/4bfyhp9pEye of the hurricane: https://tinyurl.com/bd6h84kaG. Szegő: https://tinyurl.com/mrthmmvmProject Matterhorn: https://tinyurl.com/5az9c3shD. Greenglass: https://tinyurl.com/p2kfp7czCenter for the Study of Democratic Institutions: https://tinyurl.com/3vkupdtySupport 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 Intro01:19 Swedish control heritage and early steps05:21 PhD at Lund and relay feedback systems15:40 Berkeley years19:58 Hybrid systems26:46 Networked control systems30:32 Interaction with industry34:40 Wireless control systems40:33 Platooning in freight transport49:27 Future of mobility52:55 Event-based control58:58 Cybersecurity1:05:10 Societal-scale challenges1:12:33 Bode lecture reflections1:15:05 Digital futures1:23:38 Advice for future studentsLinksKalle’s website: https://tinyurl.com/yc34dv2xK. J. Åstrom: https://tinyurl.com/5n9admvkPhD Thesis: https://tinyurl.com/3868a92aRelay feedback: https://tinyurl.com/3w4w9dkuFast switches in relay feedback systems: https://tinyurl.com/5dcvn79fS. Sastry: https://tinyurl.com/3f5e978zHybrid system: https://tinyurl.com/v39up6wkDynamical properties of hybrid automata: https://tinyurl.com/yx73x6baWireless Network Design for Control Systems: https://tinyurl.com/mry5cnanCyber–Physical Control of Road Freight Transport: https://tinyurl.com/yc4yhhwuS. Shladover: https://tinyurl.com/352cfwdmAn introduction to event-triggered and self-triggered control: https://tinyurl.com/37p9w8czDistributed Event-Triggered Control for Multi-Agent Systems: https://tinyurl.com/5ddnjsrzCyber security analysis of state estimators in electric power systems: https://tinyurl.com/2wj74spjA secure control framework for resource-limited adversaries: https://tinyurl.com/37pnehuvControl for societal-scale challenges 2030: https://tinyurl.com/yfd3v296Digital futures: https://tinyurl.com/h3nyb2Support 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 - Intro02:14 - Early steps in control05:36 - L1 control17:09 - Relay feedback systems24:32 - Agile robotic maneuvers29:31 - Abstractions and models41:59 - Causality49:35 - Markets and power grids1:00:20 - Role of network structure1:05:03 - Data, systems, and society1:16:17 - On writing1:22:57 - Cascaded failures in networks1:30:40 - Information design1:34:29 - Data markets1:42:27 - On economics and engineering1:48:18 - Systems thinking for societal problems1:58:24 - Advice to future studentsLinksWebsite: https://dahleh.lids.mit.edu/Data Nation podcast: https://tinyurl.com/2fxwxw2dS. Bhattacharyya: https://tinyurl.com/4z93f6n7Wonham’s geometric control: https://tinyurl.com/mrxxkrv9B. Pearson: https://tinyurl.com/3vaz9yc9L1-optimal control: https://t.ly/NuXp8M. Vidyasagar: https://tinyurl.com/4z3zamh6Relay feedback systems: https://tinyurl.com/47tr23a4J. Tsitsilkis: https://tinyurl.com/yc7jmzm6Maneuver-based motion planning: https://tinyurl.com/bdduu2eaNutonomy: https://tinyurl.com/426s7stvFeedback control with noisy channels: https://tinyurl.com/2yschy2sBode’s integral: https://tinyurl.com/2s47rjmpFundamental limits and molecular fluctuations: https://tinyurl.com/5n8k4maaVolatility of power grids: https://tinyurl.com/2vfpjfy7Bayesian learning in social networks: https://tinyurl.com/3mk9p486D. Acemoglu: https://tinyurl.com/3nphek9hA. Ozdaglar: https://tinyurl.com/yvdnddh9Cascade failures in networks: https://tinyurl.com/u2ckx94vA marketplace for data: https://tinyurl.com/esvbtprbSupport 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.