@conference {4382,
	title = {Iterative Learning in Functional Space for Non-Square Linear Systems},
	booktitle = {2021 60th IEEE Conference on Decision and Control (CDC)},
	year = {2021},
	pages = {5858{\textendash}5863},
	publisher = {IEEE},
	organization = {IEEE},
	abstract = {<p>Many control problems are naturally expressed in continuous time. Yet, in Iterative Learning Control of linear systems, sampling the output signal has proven to be a convenient strategy to simplify the learning process while sacrificing only marginally the overall performance. In this context, the control action is similarly discretized through zero-order hold - thus leading to a discrete-time system. With this paper, we want to investigate an alternative strategy, which is to track sampled outputs without masking the continuous nature of the input. Instead, we look at the whole input evolution as an element of a functional subspace. We show how standard results in linear Iterative Learning Control naturally extend to this context. As a result, we can leverage the infinite-dimensional nature of functional spaces to achieve exact tracking of strongly non-square systems (number of inputs less than outputs). We also show that constraints - like those imposed by intermittent control - can be naturally integrated within this framework.</p>
},
	keywords = {Aerospace electronics, Conferences, Discrete-time systems, Linear systems, Process control, Standards, Time-varying systems},
	doi = {10.1109/CDC45484.2021.9683673},
	url = {https://ieeexplore.ieee.org/document/9683673},
	author = {Della Santina, Cosimo and Angelini, Franco}
}
@article {4293,
	title = {Control architecture for human-like motion with applications to articulated soft robots},
	journal = {Frontiers in Robotics and AI},
	volume = {7},
	year = {2020},
	author = {Angelini, Franco and Della Santina, Cosimo and Garabini, Manolo and Bianchi, Matteo and Bicchi, Antonio}
}
@conference {4297,
	title = {Iterative learning control as a framework for human-inspired control with bio-mimetic actuators},
	booktitle = {Conference on Biomimetic and Biohybrid Systems},
	year = {2020},
	pages = {12{\textendash}16},
	publisher = {Springer},
	organization = {Springer},
	author = {Angelini, Franco and Bianchi, Matteo and Garabini, Manolo and Bicchi, Antonio and Della Santina, Cosimo}
}
@article {4291,
	title = {Time generalization of trajectories learned on articulated soft robots},
	journal = {IEEE Robotics and Automation Letters},
	volume = {5},
	year = {2020},
	pages = {3493{\textendash}3500},
	author = {Angelini, Franco and Mengacci, Riccardo and Della Santina, Cosimo and Catalano, Manuel G and Garabini, Manolo and Bicchi, Antonio and Grioli, Giorgio}
}
