ControlSystems
CoDAlab Research Line
Control Systems
Modelling, Feedback Design & Cyber-Physical Systems
The Control line models and designs feedback systems for stability and robustness, contributing to resilient industrial infrastructures aligned with the energy and green transition challenge. Its theory is tested on low-cost experimental platforms built at LabTECH.
Institutions
UPC - ESEIAAT
UPC - EPSEM
Line Lead
Gisela Pujol-Vázquez
Challenge
Energy & Green Transition
Experimental lab
LabTECH
The Control line focuses on modelling and designing feedback systems for stability and robustness, contributing to resilient industrial infrastructures aligned with the energy and green transition challenge.
The group has validated advanced techniques including sliding mode control, model predictive control and barrier-function-based adaptive approaches, while systematically enhancing classical PID controllers with mathematical rigour.
To facilitate global dissemination, the development of low-cost experimental platforms has been prioritised. They are built and tested at LabTECH, the Technologic Development and Control Laboratory at ESEIAAT (Terrassa), to support the theory developed and to inform new experimental platforms.
Areas of expertise
Team
Line lead: Gisela Pujol-Vázquez. Members: Leonardo Acho, Josep M. Rossell, Josep Rubió and Mario E. González (PhD candidate). External collaborators: Saleh Mobayen, Alessandro Vargas, Marcio Furtado and Wilman Pineda. Profiles are on the Group Members page.
Meet the team →Robust feedback design, from model to experiment
The line works within control theory, with emphasis on robust control, fault detection and parametric identification. Controllers are designed with proofs of stability and then validated on experimental platforms.
It is structured around four complementary expertise nodes, listed below.
Convergence with WinTurCoM
A recent convergence has started the study of thermoplastic composites: robust control strategies for systems with embedded sensors and coupled thermal-mechanical dynamics, moving from modelling toward TRL 4-5 validation with Hardware-in-the-Loop systems and physics-informed AI.
WinTurCoM research line →Methods. Sliding Mode Control, Model Predictive Control, Barrier-Function Adaptive Control, PID Enhancement, Hardware-in-the-Loop, Physics-Informed AI, Piezoelectric Energy Harvesting, Decentralised Control.
Expertise nodes
Experiments run at LabTECH (Laboratori de Desenvolupament Tecnològic i Control), at ESEIAAT/UPC, room TR45-144, Colom 1, 08222 Terrassa. The laboratory is coordinated by Leonardo Acho and Gisela Pujol-Vázquez.
Platforms
Each platform has its own page with publications and student theses.
Visit LabTECH →JournalPujol-Vázquez G., Acho L. & Buenestado P.: "A Discrete-time suboptimal robust MPC framework for systems with inverse-proportional dynamics." Applied Sciences, 16(11), 5520. Read →
JournalMobayen S., Pujol-Vázquez G. & Acho L.: "Adaptive second-order sliding mode control with barrier functions for uncertain dynamic systems: design and experimental validation." International Journal of Systems Science. Read →
JournalAcho L., Buenestado P. & Pujol-Vázquez G.: "One-degree aerial device: control and experimental development." Mathematical Problems in Engineering. Read →
JournalAcho L., Buenestado P. & Pujol-Vázquez G.: "A Finite-Time Control Design for the Discrete-Time Chaotic Logistic Equations." Actuators, 13(8), 295. Read →
CongressAcho L., Carmona A., Encinas A., Jiménez M.J., Monso E. & Samperio Á.: "Experimental development of an EIT device and its proof of concept in the early detection of breast cancer." Encuentro de Álgebra Lineal, Análisis Matricial y Aplicaciones (ALAMA 2024). Read →
JournalMobayen S., Vargas A., Acho L., Pujol-Vázquez G. & Caruntu C.: "Stabilization of two-dimensional nonlinear systems through barrier-function-based integral sliding-mode control: application to a magnetic levitation system." Nonlinear Dynamics, 111(2). Read →
JournalBuenestado P., Gibergans-Báguena J., Acho L. & Pujol-Vázquez G.: "Predictive speed control for a DC-universal motor applied to monitoring electric vehicle batteries." Machines, 11(7). Read →
JournalAcho L. & Pujol-Vázquez G.: "Enhancing Vibration Control in Cable-Tip-Mass Systems Using Asymmetric Peak Detector Boundary Control." Actuators, 12(12). Read →
JournalPujol-Vázquez G., Acho L. & Gibergans-Báguena J.: "Commuted PD controller for nonlinear systems: glucose-insulin regulatory case." Applied Sciences. Read →
JournalGibergans-Báguena J., Buenestado P., Pujol-Vázquez G. & Acho L.: "A Proportional Digital Controller to Monitor Load Variation in Wind Turbine Systems." Energies, 15(2). Read →
JournalPuzyrov V., Pujol-Vázquez G. & Acho L.: "Analytical Scheme of Stability Analysis for 4-DoF Mechanical System Subjected to Friction-Induced Vibrations." Journal of Vibration Engineering & Technologies. Read →
JournalAcho L. & Pujol-Vázquez G.: "Data fusion based on an iterative learning algorithm for fault detection in wind turbine pitch control systems." Sensors, 21(24). Read →
JournalPujol-Vázquez G., Vargas A.N., Mobayen S. & Acho L.: "Semi-Active Magnetic Levitation System for Education." Applied Sciences, 11(12). Read →
JournalAcho L.: "Nonlinear Magnetic Stabilization Control Design for an Externally Manipulated DC Motor: An Academic Low-Cost Experimental Platform." Machines, 9(5), 101. Read →
JournalAcho L., Vargas A.N. & Pujol-Vázquez G.: "Low-Cost, Open-Source Mechanical Ventilator with Pulmonary Monitoring for COVID-19 Patients." Actuators, 9(3), 84. Best Paper Award of Actuators 2020. Read →
JournalAcho L., Pujol-Vázquez G. & Gibergans-Báguena J.: "A Recent Electronic Control Circuit to a Throttle Device." Electronics, 9, 191. Read →
LabTECH offers final studies projects (TFE) for the 2027 call, with experimental work on its platforms.
Open projects, TFE 2027
The full list of proposals is kept up to date on the LabTECH site.
Proposals on LabTECH →