N. Anselmi - IEEE Xplore Author Profile
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N. Anselmi

Also published under: Nicola Anselmi

Publications
122
Citations
1,867
Publications by Year
20132025
Co-Authors:
Show All Co-Authors (83)
Image of author N. Anselmi

N. Anselmi

Also published under: Nicola Anselmi

Affiliation

DICAM - Department of Civil
Environmental
and Mechanical Engineering, ELEDIA Research Center, Trento, Italy
CNIT - "University of Trento" ELEDIA Research Unit, Trento, Italy

Publication Topics

Biography

Nicola Anselmi (nicola.anselmi.1@unitn.it) is with the ELEDIA@UniTN, Department of Information Engineering and Computer Science, University of Trento, Italy. He is a Member of the IEEE.(Based on document published on 19 February 2020).
Publications
122
Citations
1,867
Publications by Year
20132025
Co-Authors:
Show All Co-Authors (83)
Author's Published Works

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Strong Lyapunov Functions for Linear Time-Varying Systems Under Persistency of Excitation

Cristiano Maria Verrelli;Patrizio Tomei

IEEE Transactions on Automatic Control
Year: 2025 | Volume: 70, Issue: 3 | Journal Article |
Linear time-varying differential equations that arise in the study of model reference adaptive identification problems are studied in both the continuous-time and the discrete-time frameworks. The original contribution of the article is to present two new strong Lyapunov functions (e.g., Lyapunov functions with negative definite derivative), assessing global uniform asymptotic stability properties...Show More

Strong Lyapunov Functions for Linear Time-Varying Systems Under Persistency of Excitation

Cristiano Maria Verrelli;Patrizio Tomei

Year: 2025 | Volume: 70, Issue: 3 | Journal Article |

Further Developments in State Estimation and Parameter Identification for Efficiency Optimization of Induction Motor Operations

Angelo Accetta;Marcello Pucci;Stefano Bifaretti;Patrizio Tomei;Cristiano Maria Verrelli

2024 IEEE 20th International Conference on Automation Science and Engineering (CASE)
Year: 2024 | Conference Paper |
This paper aims, for the first time in the literature, at presenting experimental results, within a suitably devised testing IM (Induction Motor) drive set-up, of the recently designed, theoretically-based, global adaptive IM-observer that exponentially recovers, on the basis of the rotor speed and stator current/voltage measurements, the rotor flux and load torque by achieving an arbitrary rate o...Show More

Further Developments in State Estimation and Parameter Identification for Efficiency Optimization of Induction Motor Operations

Angelo Accetta;Marcello Pucci;Stefano Bifaretti;Patrizio Tomei;Cristiano Maria Verrelli

Year: 2024 | Conference Paper |

Linear Output Regulation for Unknown Stable Systems With Uncertain Minimum-Phase Actuators

Cristiano Maria Verrelli;Patrizio Tomei

IEEE Transactions on Automatic Control
Year: 2023 | Volume: 68, Issue: 12 | Journal Article |
Consider a linear stable system—described by the transfer function $P(s)$ of unknown parameters, unknown order, and unknown relative degree—under a linear exosystem generating biased multisinusoidal references and/or disturbances with at most $q$ different known frequencies $\omega _{i}$, $i=1,\ldots,q$. It has been recently established that a linear regulator with minimal order $(2q+1)$ exists un...Show More

Linear Output Regulation for Unknown Stable Systems With Uncertain Minimum-Phase Actuators

Cristiano Maria Verrelli;Patrizio Tomei

Year: 2023 | Volume: 68, Issue: 12 | Journal Article |

An Enhanced Feedback Adaptive Observer for Nonlinear Systems With Lack of Persistency of Excitation

Patrizio Tomei;Riccardo Marino

IEEE Transactions on Automatic Control
Year: 2023 | Volume: 68, Issue: 8 | Journal Article |
Cited by: Papers (12)
The design of exponentially convergent adaptive observers is addressed for linear observable systems which are perturbed by linearly parameterized nonlinearities depending on measured signals (inputs and outputs). When there is a lack of persistency of excitation a new robust adaptive observer is presented, which performs an additional feedback depending on the kernel of the Gramian of the regress...Show More

An Enhanced Feedback Adaptive Observer for Nonlinear Systems With Lack of Persistency of Excitation

Patrizio Tomei;Riccardo Marino

Year: 2023 | Volume: 68, Issue: 8 | Journal Article |

Hybrid Adaptive Output Feedback Tracking for Stable Systems With Unknown Input Constraints

Riccardo Marino;Patrizio Tomei

IEEE Transactions on Automatic Control
Year: 2022 | Volume: 67, Issue: 10 | Journal Article |
Cited by: Papers (4)
The problem of global output tracking is addressed for stable minimum phase systems, with constant uncertain parameters and constant disturbances belonging to a known compact set, in the presence of input constraints such as amplitude saturation. The relative degree, the system order, and the sign of the high frequency gain are assumed to be known. A hybrid adaptive output feedback control is desi...Show More

Hybrid Adaptive Output Feedback Tracking for Stable Systems With Unknown Input Constraints

Riccardo Marino;Patrizio Tomei

Year: 2022 | Volume: 67, Issue: 10 | Journal Article |

Nonlinear Robust Coordinated PSS-AVR Control for a Synchronous Generator Connected to an Infinite Bus

Cristiano Maria Verrelli;Riccardo Marino;Patrizio Tomei;Gilney Damm

IEEE Transactions on Automatic Control
Year: 2022 | Volume: 67, Issue: 3 | Journal Article |
Cited by: Papers (17)
The transient stabilization and voltage regulation problem for a synchronous generator connected to an infinite bus is addressed, in this article, in the presence of all uncertain physical parameters. First, new interpretations for the desensitized four loops regulator, here referred to as robust coordinated power system stabilizer and automatic voltage regulator (PSS-AVR) are derived in terms of ...Show More

Nonlinear Robust Coordinated PSS-AVR Control for a Synchronous Generator Connected to an Infinite Bus

Cristiano Maria Verrelli;Riccardo Marino;Patrizio Tomei;Gilney Damm

Year: 2022 | Volume: 67, Issue: 3 | Journal Article |

Nonanticipating Lyapunov Functions for Persistently Excited Nonlinear Systems

Cristiano Maria Verrelli;Patrizio Tomei

IEEE Transactions on Automatic Control
Year: 2020 | Volume: 65, Issue: 6 | Journal Article |
Cited by: Papers (8)
Persistently excited nonlinear time-varying systems are considered in this paper. Two new quadratic, time-varying, Lyapunov functions are presented, whose time-varying matrices-solutions to suitable linear time-varying matrix differential equations-are causal (nonanticipating) and, thus, differently from related results in the literature, available at runtime. They allow for directly addressing an...Show More

Nonanticipating Lyapunov Functions for Persistently Excited Nonlinear Systems

Cristiano Maria Verrelli;Patrizio Tomei

Year: 2020 | Volume: 65, Issue: 6 | Journal Article |

Learning Position Controls for Hybrid Step Motors: From Current-Fed to Full-Order Models

Valerio Salis;Nicolas Chiappinelli;Alessandro Costabeber;Pericle Zanchetta;Stefano Bifaretti;Patrizio Tomei;Cristiano Maria Verrelli

IEEE Transactions on Industrial Electronics
Year: 2018 | Volume: 65, Issue: 8 | Journal Article |
Cited by: Papers (14)
The experimental comparison of two different global learning position controls (namely, “adaptive learning” and “repetitive learning” controls) for hybrid step motors performing repetitive tasks has been recently presented in the literature. Related benefits and drawbacks have been successfully analyzed on the same robotic application. However, the design of the two aforementioned learning control...Show More

Learning Position Controls for Hybrid Step Motors: From Current-Fed to Full-Order Models

Valerio Salis;Nicolas Chiappinelli;Alessandro Costabeber;Pericle Zanchetta;Stefano Bifaretti;Patrizio Tomei;Cristiano Maria Verrelli

Year: 2018 | Volume: 65, Issue: 8 | Journal Article |

Hybrid Adaptive Multi-Sinusoidal Disturbance Cancellation

Riccardo Marino;Patrizio Tomei

IEEE Transactions on Automatic Control
Year: 2017 | Volume: 62, Issue: 8 | Journal Article |
Cited by: Papers (20)
A stable, single-input, single-output linear system is considered whose input is affected by biased multi-sinusoidal disturbances with uncertain frequencies belonging to a given range, unknown phases and amplitudes. The problem of exponential disturbance rejection by output feedback from any initial condition is addressed and solved. The knowledge of the sign of the real part (or the imaginary par...Show More

Hybrid Adaptive Multi-Sinusoidal Disturbance Cancellation

Riccardo Marino;Patrizio Tomei

Year: 2017 | Volume: 62, Issue: 8 | Journal Article |

Hybrid adaptive compensators for multi-sinusoidal disturbance rejection

Patrizio Tomei;Riccardo Marino

2016 European Control Conference (ECC)
Year: 2016 | Conference Paper |
The problem of rejecting biased multi-sinusoidal disturbances with frequencies in a given range, acting on an uncertain stable linear system is addressed. Assuming that the system uncertainty allows to design an output feedback linear compensator when the disturbance frequencies are known, an exponentially convergent adaptive observer is proposed to update the compensator parameters when the distu...Show More

Hybrid adaptive compensators for multi-sinusoidal disturbance rejection

Patrizio Tomei;Riccardo Marino

Year: 2016 | Conference Paper |

Nonlinear adaptive control for position-sensorless permanent magnet synchronous motors with uncertainties

Cristiano Maria Verrelli;Patrizio Tomei;Emilio Lorenzani

2016 European Control Conference (ECC)
Year: 2016 | Conference Paper |
Cited by: Papers (5)
In this paper we show that, when the rotor position is not measured in (nonsalient-pole surface) PMSMs with unknown constant load torque and stator resistance (with the rotor speed being available along with the stator currents), it is possible to guarantee exponential rotor position tracking and - mainly - regulation without resorting to persistency of excitation conditions which involve a non-de...Show More

Nonlinear adaptive control for position-sensorless permanent magnet synchronous motors with uncertainties

Cristiano Maria Verrelli;Patrizio Tomei;Emilio Lorenzani

Year: 2016 | Conference Paper |

Synchronization control of DC motors through adaptive disturbance cancellation techniques

Cristiano Maria Verrelli;Salvatore Pirozzi;Patrizio Tomei;Ciro Natale

2016 International Symposium on Power Electronics, Electrical Drives, Automation and Motion (SPEEDAM)
Year: 2016 | Conference Paper |
Cited by: Papers (3)
We address the master-slave synchronization control problem for a current-fed DC motor with uncertain parameters: an exogenous rotor position reference signal, which belongs to the class of biased sinusoidal signals with uncertain bias, amplitude, frequency, phase, is to be tracked without assuming its foreknowledge. An innovative use of adaptive disturbance cancellation techniques allows to obtai...Show More

Synchronization control of DC motors through adaptive disturbance cancellation techniques

Cristiano Maria Verrelli;Salvatore Pirozzi;Patrizio Tomei;Ciro Natale

Year: 2016 | Conference Paper |

Synchronization control of permanent magnets synchronous motors through adaptive disturbance cancellation

C. M. Verrelli;P. Tomei;S. Bifaretti;A. Lidozzi;F. Crescimbini;M. Tiberti;D. Diaferia

2016 IEEE Symposium on Sensorless Control for Electrical Drives (SLED)
Year: 2016 | Conference Paper |
A master-slave synchronization control problem is addressed for current-fed permanent magnets synchronous machines with uncertain parameters and no speed sensor. An exogenous rotor position reference signal, which belongs to the class of biased sinusoidal signals with uncertain bias, amplitude, angular frequency, phase, is to be tracked without assuming its foreknowledge. An innovative output feed...Show More

Synchronization control of permanent magnets synchronous motors through adaptive disturbance cancellation

C. M. Verrelli;P. Tomei;S. Bifaretti;A. Lidozzi;F. Crescimbini;M. Tiberti;D. Diaferia

Year: 2016 | Conference Paper |

Position estimation for permanent magnets synchronous machines in pump-fan and generating applications

S. Bifaretti;A. Lidozzi;L. Solero;M. Tiberti;P. Tomei;C. M. Verrelli

2016 IEEE Symposium on Sensorless Control for Electrical Drives (SLED)
Year: 2016 | Conference Paper |
Cited by: Papers (4)
The position estimation problem is addressed for (nonsalient-pole surface) permanent magnets synchronous machines. Rotor speed and stator currents/voltages measurements are assumed to be available for feedback. Two novel adaptive observers are compared and experimental results concerning pump-fan and generating applications are provided.Show More

Position estimation for permanent magnets synchronous machines in pump-fan and generating applications

S. Bifaretti;A. Lidozzi;L. Solero;M. Tiberti;P. Tomei;C. M. Verrelli

Year: 2016 | Conference Paper |

Adaptive cancellation of sinusoidal disturbances for unknown stable plants

Riccardo Marino;Patrizio Tomei

2015 European Control Conference (ECC)
Year: 2015 | Conference Paper |
Cited by: Papers (5)
The design of a local adaptive output feedback compensator is addressed to reject biased multiple sinusoidal disturbances of unknown amplitude, phase and frequency, acting on an unknown stable single-input single-output linear or nonlinear system. Sufficient conditions on the phase uncertainty of the system transfer function at the frequencies contained in the disturbance are provided, which lead ...Show More

Adaptive cancellation of sinusoidal disturbances for unknown stable plants

Riccardo Marino;Patrizio Tomei

Year: 2015 | Conference Paper |

Linear Repetitive Learning Controls for Robotic Manipulators by Padé Approximants

Cristiano Maria Verrelli;Salvatore Pirozzi;Patrizio Tomei;Ciro Natale

IEEE Transactions on Control Systems Technology
Year: 2015 | Volume: 23, Issue: 5 | Journal Article |
Cited by: Papers (37)
The aim of this brief is to present the use of [m, m]-Padé approximants in the implementation of repetitive learning controls for the asymptotic joint position tracking of robotic manipulators with uncertain dynamics and periodic position reference signals (with known period). The resulting linear learning controls, which are derived through a detailed stability proof (involving the use of a suita...Show More

Linear Repetitive Learning Controls for Robotic Manipulators by Padé Approximants

Cristiano Maria Verrelli;Salvatore Pirozzi;Patrizio Tomei;Ciro Natale

Year: 2015 | Volume: 23, Issue: 5 | Journal Article |

Output Regulation for Unknown Stable Linear Systems

Riccardo Marino;Patrizio Tomei

IEEE Transactions on Automatic Control
Year: 2015 | Volume: 60, Issue: 8 | Journal Article |
Cited by: Papers (48)
The regulation problem is addressed for single-input, single-output, linear unknown stable systems P(s), of unknown order, with exosystems generating biased multi-sinusoidal references and/or disturbances containing at most q known frequencies ωi, 1 ≤ i ≤ q. Sufficient conditions are presented which require the knowledge of sign[P(0)] and either sign{Re[P(jωi)]} or sign{Im[P(jωi)]}, 1 ≤ i ≤ q. The...Show More

Output Regulation for Unknown Stable Linear Systems

Riccardo Marino;Patrizio Tomei

Year: 2015 | Volume: 60, Issue: 8 | Journal Article |

Adaptive learning control for non-minimum phase linear systems

Patrizio Tomei;Cristiano Maria Verrelli

2014 European Control Conference (ECC)
Year: 2014 | Conference Paper |
Cited by: Papers (5)
The aim of this paper is to show the existence of a local solution to the output tracking problem for uncertain linear systems in which the output reference signal is periodic with known period. An output-feedback adaptive learning control is designed which relies on the Fourier approximation theory and on two adaptive observers. It guarantees, under suitable conditions, exponential output trackin...Show More

Adaptive learning control for non-minimum phase linear systems

Patrizio Tomei;Cristiano Maria Verrelli

Year: 2014 | Conference Paper |

Frequency estimation of periodic signals

Riccardo Marino;Patrizio Tomei

2014 European Control Conference (ECC)
Year: 2014 | Conference Paper |
Cited by: Papers (16)
This paper addresses the problem of estimating on-line the unknown period of a periodic signal: this is a crucial problem in the design of learning and synchronizing controls, in fault detection and for the attenuation of periodic disturbances. Given a measurable continuous, bounded periodic signal, with non-zero first harmonic in its Fourier series expansion, a dynamic algorithm is proposed which...Show More

Frequency estimation of periodic signals

Riccardo Marino;Patrizio Tomei

Year: 2014 | Conference Paper |

Robust Adaptive Compensation of Periodic Disturbances With Unknown Frequency

Riccardo Marino;Patrizio Tomei

IEEE Transactions on Automatic Control
Year: 2014 | Volume: 59, Issue: 10 | Journal Article |
Cited by: Papers (24)
Single-input, single-output known stable linear systems with no zeros on the imaginary axis are considered. They are affected by disturbances which are matched by the control input. An indirect adaptive output feedback compensator is designed to attenuate the effects of continuous periodic disturbances with unknown frequency. The compensator contains an adaptive internal model which rejects a fixe...Show More

Robust Adaptive Compensation of Periodic Disturbances With Unknown Frequency

Riccardo Marino;Patrizio Tomei

Year: 2014 | Volume: 59, Issue: 10 | Journal Article |

On-Line Identification of Winding Resistances and Load Torque in Induction Machines

Cristiano Maria Verrelli;Alberto Savoia;Michele Mengoni;Riccardo Marino;Patrizio Tomei;Luca Zarri

IEEE Transactions on Control Systems Technology
Year: 2014 | Volume: 22, Issue: 4 | Journal Article |
Rotor and stator resistances along with load torque are typically uncertain quantities in induction machines. The machine heating makes the winding resistances vary during operation whereas the load torque strictly depends on the application. All those variables need to be on-line estimated to improve the drive performances and in particular to minimize the power loss at steady state. A new adapti...Show More

On-Line Identification of Winding Resistances and Load Torque in Induction Machines

Cristiano Maria Verrelli;Alberto Savoia;Michele Mengoni;Riccardo Marino;Patrizio Tomei;Luca Zarri

Year: 2014 | Volume: 22, Issue: 4 | Journal Article |

Robust adaptive compensation of periodic disturbances with unknown frequency

Riccardo Marino;Patrizio Tomei

52nd IEEE Conference on Decision and Control
Year: 2013 | Conference Paper |
Cited by: Papers (4)
An indirect adaptive output feedback compensator is designed to attenuate the effects of periodic disturbances with unknown frequency on a known stable linear system with no zeros on the imaginary axis. The compensator contains an adaptive internal model which rejects a fixed number of harmonics in the Fourier series expansion of the periodic disturbance. It also contains an independent frequency ...Show More

Robust adaptive compensation of periodic disturbances with unknown frequency

Riccardo Marino;Patrizio Tomei

Year: 2013 | Conference Paper |

Global Adaptive Regulation of Uncertain Nonlinear Systems in Output Feedback Form

Riccardo Marino;Patrizio Tomei

IEEE Transactions on Automatic Control
Year: 2013 | Volume: 58, Issue: 11 | Journal Article |
Cited by: Papers (15)
Minimum phase uncertain nonlinear systems in output feedback form are considered: they are subject to disturbances and/or uncertainties and are required to track reference signals. Both disturbances and references are generated by an exosystem whose model and order are uncertain. Assuming that the regulator problem has a solution, but with no a priori assumption on the required control input (e.g....Show More

Global Adaptive Regulation of Uncertain Nonlinear Systems in Output Feedback Form

Riccardo Marino;Patrizio Tomei

Year: 2013 | Volume: 58, Issue: 11 | Journal Article |

Experimental Heart Rate Regulation in Cycle-Ergometer Exercises

Michele Paradiso;Stefano Pietrosanti;Stefano Scalzi;Patrizio Tomei;Cristiano Maria Verrelli

IEEE Transactions on Biomedical Engineering
Year: 2013 | Volume: 60, Issue: 1 | Journal Article |
Cited by: Papers (29)
The heart rate can be effectively used as a measure of the exercise intensity during long duration cycle-ergometer exercises: precisely controlling the heart rate (HR) becomes crucial especially for athletes or patients with cardiovascular/obesity problems. The aim of this letter is to experimentally show how the nonlocal and nonswitching nonlinear control that has been recently proposed in the li...Show More

Experimental Heart Rate Regulation in Cycle-Ergometer Exercises

Michele Paradiso;Stefano Pietrosanti;Stefano Scalzi;Patrizio Tomei;Cristiano Maria Verrelli

Year: 2013 | Volume: 60, Issue: 1 | Journal Article |

Output regulation for linear systems with unknown exosystem order

Riccardo Marino;Patrizio Tomei

2012 IEEE 51st IEEE Conference on Decision and Control (CDC)
Year: 2012 | Conference Paper |
The regulator problem is considered for linear systems when the linear exosystem which generates the disturbances to be rejected and/or the reference signals to be tracked is unknown, that is both its order 2r + 1 and its parameters {ω1, ..., ωr} are unknown. The proposed regulator makes use of two observers and contains an adaptive internal model which adapts m internal parameters on the basis of...Show More

Output regulation for linear systems with unknown exosystem order

Riccardo Marino;Patrizio Tomei

Year: 2012 | Conference Paper |

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