IEEECCAC2021 Booklet

Contents
Welcome Message 4
Organizing Committee 6
Technical Committee 8
About Ibagué 10
Colombian Conference on Automatic Control - CCAC History 11
Conference Venue 13
Guidelines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Access to talks and technical sessions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
If you are speaker on a Technical session . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
If you are chair on a Technical session . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Networking (coffee breaks, lunches, etc) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
If you logout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Keynote Speakers 18
Prof. Kristin Y. Pettersen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Prof. Stephanie Gil . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Prof. Leonid Fridman . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Prof. Bart De Moor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Prof. John E. Hauser . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Prof. Germain García . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Prof. Cesar Cadena . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Prof. Jean-Philippe Steyer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Prof. Juan Manuel Cordovez . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Prof. Freddy Naranjo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Workshops 27
Title: Fast actuation and adaptation in Aerial Modular Robots . . . . . . . . . . . . . . . . . . . . . 27
Title: Robust optimization in cyber-physical systems with applications in electricity demand response 28
Title: Decentralized algorithms for collaborative learning . . . . . . . . . . . . . . . . . . . . . . . 29
Title: Optimal structured control in spatially-distributed systems: convexity, performance and decen-
tralization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Title: Resilient distributed machine learning: Secure multi-agent federation . . . . . . . . . . . . . 31
Timetable 32
Technical Sessions 33
Technical Session 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
2
Controlavirus Challenge 52
Posters 53
Awards 54
Partner Institutions and Sponsors 55
3
Welcome Message
On behalf of the organizing committee, we are honored to welcome you to the fifth version of the IEEE Colombian
Conference on Automatic Control (CCAC), an event that calls the control community of Latin America. The
Conference seeks to bring together researchers and practitioners, academics and industrialists to discuss the
state of the art, research, advances and applications of control engineering to promote the development of
technology in Colombia and in the Latin American region. The thematic emphasis of the Conference covers
theory, implementation issues and experiences related to control applications, automation and methods in
research, academia, and industry. This year, due to the global contingency that originated the COVID-19, the
conference has been organized completely virtually. Even when the conference is going to be virtual, the event
venue will be Ibagué, the Musical City of Colombia that remotely welcomes you.
This year we have the privilege to have a distinguished lecturer of the IEEE Control systems society, Professor
Kristine Pettersen from the Norwegian University of Science and Technology, and we have an outstanding group
of keynote speakers:
• Professor Bart de Moor from KU Leuven in Belgium,
• Professor Cesar Cadena from ETH Zurich in Switzerland,
• Professor Germain Garcia from LAAS-CNRS in France,
• Professor Jean Philippe Steyer from INRAE in France,
• Professor Stephanie Gil from Harvard University in USA,
• Professor John Hauser from Colorado University at Boulder in USA,
• Professor Leonid Fridman from Universidad Nacional Autónoma de México in Mexico,
• Professor Juan Manuel Cordovez from Universidad de los Andes in Colombia.
As it is tradition, the winner of the Alain Gauthier Award at the previous version of the Conference, Professor
Freddy Naranjo Pérez from Universidad Autónoma de Occidente, will guide another of the central talks.
During the first day of the conference, there have been organized five workshops:
• Fast actuation and adaptation in aerial modular robots.
• Optimal structured control in spatially-distributed systems: convexity, performance and decentralization.
• Decentralized algorithms for collaborative learning.
• Robust optimization of cyber-physical systems with applications in electrical demand response.
• Resilient distributed machine learning: Secure multi-agent federation.
This year, 72 manuscripts were received, from which, 58 manuscripts have been selected through a rigorous
review process, for which a minimum of three reviewers per manuscript have been assigned (an acceptance rate
of 80%). The accepted papers have been organized for presentation during the last three days of the conference
in fifteen technical sessions:
• Three sessions about applied control.
4
• Two session about Robotics and Mechatronics.
• Two sessions about Power systems and renewable energy.
• Two sessions about power electronics.
• Two sessions about systems identification.
• One session about process automation and instrumentation.
• One session about education and didactics in control.
• One session of modeling and control theory.
• One session about distributed control and multiagent systems.
As a particular feature of this version of the conference, the Controlavirus Challenge competition is intended to
motivate undergraduate and graduate students to apply basic principles of control theory to design intervention
policies to mitigate the effects of COVID-19 on communities.
On this version of the conference five awards will be presented:

• The Alain Gauthier award given by the IEEE Control Systems Society Colombian chapter to an outstanding
engineer in the area of control and automation, who has made significant contributions in education and
research, or developed projects that have led to an important contribution to industrial level.
• The award for the best papers delivered according to the concepts given during the peer review process.
• The award for the best video presentations according to the evaluation made during the conference.
• The award for best PhD student poster.
• The award for the best proposal of the Controlavirus challenge.
We will present a cultural event where we will show some of the traditional dances and music of Ibagué. Also, we
will have space for networking in different rooms and we encourage you to use them in coffee breaks, lunches
and other times.
We hope that all conference participants will enjoy the conference and be able to take advantage of the excellent
group of central conferences, the interesting workshops, as well as the high- quality papers and become regular
participants of this biannual conference, home of the Control systems practitioners in Colombia and Latin
America.
WELCOME!
Diana Marcela Ovalle Martínez & Oswaldo López Santos

General co-chairs
5
Organizing Committee
General co-Chairs
Oswaldo López Santos Diana Marcela Ovalle Martínez

Universiad de Ibagué Universidad Distrital Francisco José de Caldas
Program Chair Publications Chair
Maximiliano Bueno López Luis Francisco Cómbita Alfonso

Universiad del Cauca Universidad Distrital Francisco José de Caldas
Finance Chair Registration Chair
Johanna Castellanos Arias José Reinaldo Vuelvas Quintana

Pontificia Universidad Javeriana Pontificia Universidad Javeriana
6
Awards Chair Industry Sponsors Chair
Nicanor Quijano Silva Oscar Barrero Mendoza

Universidad de los Andes Universiad de Ibagué
International Committee Chair Publicity Chair
Luis Felipe Giraldo Harold Fabián Murcia Moreno

Universidad de los Andes Universiad de Ibagué
Virtual Plataform Chair Students Activities Chair
Juan Sebastián Roncancio Wilber Acuña Bravo

Pontificia Universidad Javeriana Universidad del Cauca
7
Technical Committee
César Arturo Liliana Delgadillo Mirquez

Aceves Lara INSA-Toulouse Universidad de Ibagué
Carolina Albea Sánchez Abdelali El Aroudi

Universidad de Sevilla Universitat Rovira i Virgili
Hernán Álvarez Jairo J Espinosa

National University of Colombia National University of Colombia
Marco Alzate Liliana Fernández-Samacá

Universidad Distrital Francisco José de Caldas Universidad Pedagógica y Tecnológica de Colombia
Juan Carlos Bedoya Freddy Flores

PNNL Universidad Andrés Bello
Giovanni Bermúdez Juan Carlos Galvis Manso

Universidad Distrital Francisco José de Caldas Universidade Federal de Ouro Preto
Edgar Bolívar Alejandro Garcés

University of Michigan Universidad Tecnológica de Pereira
Michael Bressan Alfredo Garcia

University of the andes Texas A&M University
Juan Castano Germain Garcia

Universidad Carlos Tercero Laboratory for Analysis and Architecture of Systems - CNRS
Jenny Alexandra Cifuentes Quintero Jorge Andrés García Vanegas

Universidad Pontificia de Comillas Universidad de Ibagué
Gregory Conde Carlos Gaviria

Universidad de los Andés Universidad del Cauca
Carlos Cotrino Eduardo Giraldo

Pontificia Universidad Javeriana Universidad Tecnológica de Pereira
Bart De Moor Irvin López García

ESAT-SCD, KULeuven Universidad Autónoma Metropolitana-Azcapotzalco
8
Jorge Lopez Jimenez Andrés Pantoja
Universidad de los Andés Universidad de Nariño
Eduardo Mojica-Nava Diego Alejandro Patino Guevara

National University of Colombia Pontificia Universidad Javeriana
Oscar Danilo Montoya Giraldo Jorge Poveda

Universidad Distrital Francisco José de Caldas University of Colorado, Boulder
Diego A. Muñoz Carlos Restrepo

Universidad Pontificia Bolivariana Talca University
Duberney Murillo Fredy Ruiz

Universidad de Talca Politecnico di Milano
Gabriel Esteban Narvaez Morales Jorge Sofrony

Universidad de los Andés National University of Colombia
German Obando Carlos Andrés Torres Pinzón

Universidad del Rosario Universidad Santo Tomás
Carlos Ocampo César A. Uribe

Universitat Politècnica de Catalunya Rice University
R Orjuela Freddy Valderrama

IRIMAS UHA Pontificia Universidad Javeriana
9
About Ibagué
Ibagué is a municipality located in the centre-west of Colombia, on the Central Cordillera of the Andes
between the Combeima Canyon and the Magdalena Valley, near the Nevado del Tolima. It is the capital
of the department of Tolima with around 530000 inhabitants. It is located at an altitude of 1285
metres above sea level; it was founded on October 14, 1550, which makes it one of the oldest cities
in America. It is a land so full of music that its anthem is not a military melody, but a joyful song of
popular folklore. It is not for nothing that the city is called the “Musical Capital of Colombia”.
Ibagué is also an important financial and economic hub of Colombia. In fact, it is the seat of the Bank
of the Republic of Colombia and the Mint. In the city you will find numerous restaurants to suit all
tastes and budgets, where you can try typical dishes such as tamales, lechona, achira biscuits and
viudo de pescado (fish stew). The folklore of Tolima is also characterised by myths and legends that
will surprise you, with characters such as El Mohán, la Madremonte, la Llorona and el Sombrerón.
10
CCAC History
In 2021 the CCAC reaches its fifth version. In this section, we will learn about the history of the
conference.
The IEEE LARC - CCAC 2011 was held from October 1 to
4, 2011 in Pontificia Universidad Javeriana in the city of
Bogotá - Colombia. This conference was the union of the
following events:
• 1st IEEE Colombian Conference on Automatic Control
(CCAC).
• 2nd IEEE Latin-american Robotics Competition
(LARC).
• 3rd IEEE Latin-american Robotics Symposium (LARS).
• 4th IEEE Industry Applications Society Colombian
Workshop (IASCW).
The objective of this first event was to bring together researchers, academics, industrialists and
professionals to deal with the state of the art, research and development of advances in control and
robotics and its applications, in order to share and promote technological development in Colombia
and in the Latin American region. The conference had 250 attendees, 130 articles and it was presented
and the for the first time, the award Alain Gauthier.
The 2nd CCAC took place on October 14-16, 2015 in Man-

izales, Colombia. The thematic emphasis of the Confer-
ence was cover the theory, the implementation issues
and the experiences related to the applications of control,
automation and robotics methods to research, academy
and industry.
The 3th CCAC was held on October 18-20th, 2017 at the Corales de Indias
Hotel, Cartagena de Indias, Colombia. The conference was preceded by
a day devoted to four technical workshops. This was the first time it was
organized in Cartagena de Indias, a small piece of paradise in the Colom-
bian Caribbean coast. The 2017 CCAC was, for the first time, sponsored
by the IEEE Control Systems Society (CSS), which highlights the quality of
the event. CCAC also received support from the CSS Outreach Program,
which provided funds to support students and travel for external keynote
speakers.
11
The 4th CCAC was held in the beautiful city of Medellin,
Colombia on October 15-18, 2019. The objective of the Con-
ference was to gather academic and industrial researchers
and practitioners, to discuss the state of the art, research
and developments in control engineering accounting both
theoretical aspects and applications for sharing and encour-
aging technology development in Colombia and the Latin
American.
12
Conference Venue
The conference was initially planned to be held in the city of Ibagué, Colombia, however due to the
COVID-19 situation, CCAC 2021 will be held virtually. Please use the information in the following section
to access the conference sessions.
Guidelines
The conference will use Hubilo platform. On Monday, October 18 2021, you will receive an email form
Team Hubilo with the subject Start interacting with your fellow attendees at the CCAC 2021- 5th IEEE
Colombian conference on Automatic Control, that look like in the image in Figure 1, just click in the
link JOIN THE COMMUNITY NOW to access the Conference site.
Figure 1: Email to access the Conference Platform.
13
Once you enter to the Conference platform (see Figure 2), you can access the AGENDA, where you
can reach the events happening in the next couple of hours.
Figure 2: Initial Platform view.
Access to talks and technical sessions
There will be two type of access, depending on the type of talk you would like to access. For plenary
talks and the cultural activity, attendees will see an event like the one shown in Figure 3, where you
should click on the JOIN SESSION button to enter the talk. If you wish to ask a question, you can do it
during the talk by using Q&A button on the platform, and your question will be direct to the speaker
once the time for questions starts.
Figure 3: Access a session as attendee.
For all the other sessions (workshops, technical sessions, posters session, controllavirus challenge,
IEEE CSS Colombian Chapter Meeting), attendees will see an event like the one shown in Figure 4,
where you should click on the JOIN SESSION AS SPEAKER button to enter to the talk and have the
possibility to interact with the speaker, once the time for questions starts. By clicking on the button
you will be directed to the Zoom platform. We recommend you download Zoom in the following link:
https://zoom.us/. If you wish to ask a question, please rise your hand or type your question on the
14
chat window.
Figure 4: Access a session as a speaker.
If you are speaker on a Technical session
We recommend that you use for the connection Google Chrome, please do not use Safari. The audio
for this conference is delivered through your computer. Before joining the conference, make sure to
have your headset and microphone connected. Presenting authors must be present at the session at
least 10 minutes before the start of the session. Be ready to answer questions from the participants and
the session chairs after your video presentation. Session chairs will announce and manage the Q&A
period and, at that time the presenting author should start his/her audio and video. Non-presenting
authors must have the microphone muted during the presentations period.
If you are chair on a Technical session
You will receive the list of works to be presented in your session, with video duration, for you to manage
the time during the sessions. Please remember that it is recommended to maintain 20 minutes per
work presented between the presentation and Q&As. You will also receive a rubric to evaluate the
presentations, in order to decide on the best presentations of the Conference.
Networking (coffee breaks, lunches, etc)
The platform has some virtual spaces that allows participants to share with other attendees and
speakers such as LOUNGES and ROOMS (see Figure 5). Those spaces will be available during coffee
breaks, lunches and networking spaces. In rooms, can be up to 64 people at the same time and in
lounges up to 16. We encourage you to upload your picture to your profile and take advantage of these
platform features to know some colleagues and interchange with them some ideas. You have also the
possibility to chat with other attendees during the event (see Figure 6).
15
Figure 5: Networking places.
Figure 6: Networking places.
Notice that you can explore the platform, clicking on the QUICK GUIDE link, under the CONTESTS
tab.
If you logout
You can always re-enter to the Conference platform using the link in your email from Hubilo Team. But,
the first time you log out, you will see a long in page, where you can introduce your email address,
press LOGIN and, then, you will receive an email with the access code to the platform (see Figure7),
that you have to enter in the log in page to access to the Conference platform. You can also access the
conference by going to https://e6179.hubilo.com/community/#/login, using you email address and the
access code.
16
Figure 7: Email with login code.
In any case, if you present inconveniences to connect to the platform, you can reach
us at
IEEE CCAC 2021 +57 305 365 8466
17
Keynote Speakers
Day 1: Tuesday, October 19

Local Time: 08:00-09:20 (GMT - 5)
Prof. Kristin Y. Pettersen
Norwegian University of Science and Technology (NTNU), Norway
Distinguished lecturer of the IEEE Control Systems Society
Talk: Snake robots – bioinspiration gives efficient robots for ocean exploration
Bio: She received the MSc and PhD degrees in engineering cybernetics from the
Norwegian University of Science and Technology (NTNU), Trondheim, Norway,
in 1992 and 1996, respectively. She is a Professor in the Department of Engi-
neering Cybernetics, NTNU, where she has been a faculty member since 1996.
She was Head of Department 2011-2013, Vice-Head of Department 2009-2011,
and Director of the NTNU ICT Program of Robotics 2010-2013. She is Adjunct
Professor at the Norwegian Defence Research Establishment (FFI). In the period
2013 – 2022 she is also Key Scientist at the CoE Centre for Autonomous Marine
Operations and Systems. She is a co-founder of the NTNU spin-off company
Eelume AS, where she was CEO 2015-2016. She has published four books and more than 250 papers in
international journals and conference proceedings. Her research interests focus on nonlinear control
of mechanical systems with applications to robotics, with a special emphasis on marine robotics and
snake robotics. She was awarded the IEEE Transactions on Control Systems Technology Outstanding
Paper Award in 2006 and in 2017 and received the IEEE CSS 2020 Hendrik W. Bode Lecture Prize. She
was a member of the IEEE Control Systems Society Board of Governors 2012 – 2014 and is currently a
member of the IFAC Council and the EUCA Council. She has also held and holds several board positions
in industrial and research companies. She has served as Associate Editor of IEEE Transactions on
Control Systems Technology and IEEE Control Systems Magazine, and is currently Senior Editor of IEEE
Transactions on Control Systems Technology. She is IEEE CSS Distinguished Lecturer 2019-2021, IEEE
Fellow, member of the Norwegian Academy of Technological Sciences, and member of the Academy
of the Royal Norwegian Society of Sciences and Letters.
Abstract: Snake robots are motivated by the long, slender and flexible body of biological snakes, which
allows them to move in virtually any environment on land and in water. Since the snake robot is
essentially a manipulator arm that can move by itself, it has a number of interesting applications
including firefighting applications and search and rescue operations. In water, the robot is a highly
flexible and dexterous manipulator arm that can swim by itself like an eel. This highly flexible snake-like
mechanism has excellent accessibility properties; it can for instance access virtually any location on a
subsea oil & gas installation, move into the confined spaces of ship wrecks, or be used for observation
of biological systems. Furthermore, not only can the swimming manipulator access narrow openings
and confined spaces, but it can also carry out highly complex manipulation tasks at this location since
18
manipulation is an inherent capability of the system. By incorporating the propulsion system and the
manipulation capabilities in the same mechanical structure, this vehicle becomes highly compact and
is able to bring inspection and intervention capabilities to subsea locations where ROVs today cannot
operate. In this talk, I will present the inspiration from biological snakes, and recent research results on
snake robots. Finally, I will show how the bioinspiration has given efficient robots for ocean exploration.

Local Time: 09:30-10:30 (GMT - 5)
Prof. Stephanie Gil
Harvard University
Talk: Trust in Multi-Robot Systems and Achieving Resilient Coordination

Bio: She is an Assistant Professor in the John A. Paulson School of Engineering
and Applied Sciences (SEAS) at Harvard University. Her primary area is robotics,
and in particular, multi-robot systems with a focus on communication and the
impact of information exchange in these systems. Her work centers around
trust and coordination in multi-robot systems for which she has recently been
granted an Office of Naval Research Young Investigator award (2021) and the
National Science Foundation CAREER award (2019). She has also been selected
as a 2020 Sloan Research Fellow and is a 2021 Amazon Research Award recipient.
She has held a Visiting Assistant Professor position at Stanford University during
the summer of 2019, and an Assistant Professorship at Arizona State University from 2018-2020. She
completed her Ph.D. work (2014) on multi-robot coordination and control and her M.S. work (2009)
on system identification and model learning. At MIT she collaborated extensively with the wireless
communications group NetMIT, the result of which were two U.S. patents recently awarded in adaptive
heterogeneous networks for multi-robot systems and accurate indoor positioning using Wi-Fi. She
completed her B.S. at Cornell University in 2006.
Abstract: Our understanding of multi-agent coordination and control has experienced great advances
to the point where deploying multi-robot systems in the near future seems to be a feasible reality.
However, many of these algorithms are vulnerable to non-cooperation and/or malicious attacks that
limit their practicality in real-world settings. An example is the consensus problem where classical
results hold that agreement cannot be reached when malicious agents make up more than half of
the network connectivity; this quickly leads to limitations in the practicality of many multi-robot
coordination tasks. However, with the growing prevalence of cyber-physical systems comes novel
opportunities for detecting attacks by using cross- validation with physical channels of information. In
this talk we consider a new model of resilience and trust in multi-agent cyber-physical systems where
the probability of a particular (i,j) link being trustworthy is available as a random variable. We refer
to these as “stochastic observations of trust.” We show that under this model, strong performance
guarantees such as convergence for the consensus problem can be recovered, and we make the case
for further exploration of new notions of resilience for multi-agent systems.
19
Local Time: 14:00-15:00 (GMT - 5)
Prof. Leonid Fridman
Universidad Nacional Autónoma de México, México
Talk: Sliding Mode Controllers: Stages of Evolution

Bio: He obtained a master’s degree in mathematics from the Kuibyshev State
University (Samara), in Samara (Russia), in 1976, a doctorate in applied math-
ematics from the Institute of Control Sciences, in Moscow (Russia), in 1988, and
a doctorate in control sciences at the Moscow State University of Mathematics
and Electronics (Russia), in 1998. From 1976 to 1999, he worked in the Depart-
ment of Mathematics of the Samara State University of Architecture and Civil
Engineering. In 2002, she joined the Department of Control Engineering and
Robotics, Electrical Engineering Division of the Faculty of Engineering of the
National Autonomous University of Mexico (UNAM), Mexico. In 2014-2018 she
served as Chairman of the Technical Committee on Variable Structure and Sliding Mode Control of
the IEEE Control Systems Society. He has received the Harold Chestnut Award for Control Engineering
Textbooks from IFAC in 2021, winner of the National University Award of UNAM in 2019 and the Scopus
award for the best cited Mexican Scientists in Mathematics and Engineering 2010. Currently, the
professor Fridman is also an International Chair of INRIA, France, and a High Level Foreign Expert of
the Ministry of Education of China.
Abstract: The history and evolution of sliding control will be discussed. The reason for the crisis of
the first order sliding modes will be explained. The second order sliding mode control algorithms
and their specific features will be presented. The control chattering of the continuous second order
super-twisting control algorithm will be discussed. The precision of the arbitrary order sliding mode
controllers will be shown. The continuous arbitrary order sliding mode controllers will be presented
and discussed. The simple PI and PID like tuning rules for continuous sliding mode control design
minimizing the amplitude or the energy needed to mountain the system in real sliding modes are
proposed. Videos with the experimental illustration of the properties of the main sliding mode
algorithms will be presented.
20
Day 2: Wednesday, October 20
Local Time: 08:00-09:00 (GMT - 5)
Prof. Bart De Moor
Katholieke Universiteit Leuven, Belgium
Talk: Least squares optimal realisation of autonomous LTI systems is an eigenvalue

problem
Bio: He is a full Professor at the Department of Electrical Engineering of KU
Leuven, Belgium. He was a research associate at Stanford University and is a
guest professor at the Universita di Siena. He served several times as head
of cabinet of ministers of Science and Socio-Economic Policy in Belgium and
acted as a vice-rector of International Policy of KU Leuven. His fields of research
are numerical linear algebra, system theory and control, machine learning and
data science, in which he has been guiding more than 80 PhD students and
co-authored more than 400 scientific papers and 11 books. Dr. De Moor has
been serving in numerous international scientific and science policy assessment
committees, is member of the board of several (inter-)national scientific insti-
tutes, funding agencies and spin-off companies, some of which he co-founded.
He is one of the architects of the substantial Flanders AI program. He is the chairman of the Capricorn
Digital Growth Fund (venture capital), of Health-House (a high-tech science outreach center) and the
Alamire Foundation (digital humanities, polyphonic music). Being awarded with numerous scientific
prizes and honors, in 2010 he received the Science Excellence Award from King Albert II of Belgium,
and in 2020 was nominated a Commander in the Order of Leopold, by King Filip I.
Abstract: We outline the solution of a long-standing open problem in system identification and signal
processing, on how to find the best least squares realisation of an autonomous linear time-invariant
(LTI) dynamical system from given data. The global optimum is found among all stationary points
of a least squares objective function, which we show to correspond to the eigen-tuples of a multi-
parameter eigenvalue problem (MEVP). Such an MEVP can be solved by applying Forward (multi-) Shift
Recursions to the given set of multivariate polynomial equations, generating so-called block Macaulay
matrices, the null space of which can be modelled as the observability matrix of a multi-dimensional
shift-invariant linear commutative singular system. The state equations of this system can be found
from multi-dimensional realisation theory. From the corresponding eigen-tuples, one can then find the
optimal parameters of the best LTI autonomous model. Our solution methodology uses ingredients
from algebraic geometry, operator theory, multi-dimensional system theory and numerical linear
algebra, and ultimately requires as basic building blocks only the singular value decomposition and
eigen-solvers. Surprisingly enough, the conclusion is that the globally optimal model in 1D least squares
realisation, can be found exactly from multi-dimensional realisation. In addition, we describe several
new, previously unknown, properties that characterise the optimal model and its behaviour.
21
Day 2: Wednesday, October 20
Local Time: 14:00-15:00 (GMT - 5)
Prof. John E. Hauser
University of Colorado at Boulder, USA
Talk: Trajectory Optimization using the Projection Operator (PRONTO)

Bio: He received the BS degree from the United States Air Force Academy and
the MS and PhD degrees from the University of California at Berkeley, all in
Electrical Engineering and Computer Science. Between his periods of education,
he flew Air Force jets throughout the United States and Canada participating in
active Air Defense exercises. In 1989, he joined the Department of EE-Systems
at the University of Southern California as the Fred O’Green Assistant Professor
of Engineering. Since 1992, he has been at the University of Colorado at Boulder
in the Department of Electrical, Computer, and Energy Engineering. He has
held visiting positions at many places including University of Padova, Caltech,
Instituto Superior Tecnico in Lisbon, Lund Institute of Technology, and Ecole
Superieure d’Electricite. He received the Presidential Young Investigator award from the National
Science Foundation in 1991. John Hauser’s research interests include nonlinear dynamics and control,
optimization and optimal control, aggressive maneuvering for high performance motorcycles and
aircraft and other vehicles, and dynamic visualization. Recent work has focused on the development of
optimization (and optimal control) tools and techniques for trajectory exploration with an eye toward
characterizing the trajectory space (with limitations) of highly maneuverable nonlinear systems. This
work finds application in the control of highly configurable UAVs (with propulsion vectoring) and in the
analysis of racing motorcycles.
Abstract: We study the use of a nonlinear projection operator in the development of a novel function
space approach for the optimization of trajectory functionals. Given a bounded state-control trajectory
of a nonlinear system, one may make use of a simple (e.g., linear time-varying) trajectory tracking
control law to explore the set of nearby bounded state-control trajectories. Such a trajectory tracking
control system defines a nonlinear projection operator that maps a set of bounded curves onto a set
of nearby bounded trajectories.
We use the projection operator approach to develop a Newton descent method for the optimization of
dynamically constrained functionals. By projecting a neighboring set of state-control curves onto the
trajectory manifold and then evaluating the cost functional, the constraint imposed by the nonlinear
system dynamics is subsumed into an unconstrained trajectory functional. Attacking this equivalent
optimization problem in an essentially unconstrained manner, we obtain an algorithm defined in func-
tion space that produces a descending sequence in the Banach manifold of bounded trajectories. The
specific computations for this algorithm are implemented by solving ordinary differential equations.
Of special interest is the trajectory representation theorem: trajectories near a given trajectory can be
represented uniquely as the projection of the sum of that trajectory and a tangent trajectory, providing
a local chart for the trajectory manifold. The composition of the cost functional with this mapping is
thereby a mapping from the Banach space of tangent trajectories into the real numbers and it is this
22
local mapping that may or may not possess (local) convexity properties. When the second Frechet
derivative of this mapping is positive definite (in an appropriate sense), the mapping is locally convex
which is useful for many applications including the existence of a Newton descent direction, second
order sufficient condition (SSC) for optimality, quadratic convergence, and continuous dependence of
optimal trajectories on initial conditions.
We have used the PRojection Operator based Newton method for Trajectory Optimization (PRONTO)
to explore the dynamic behavior of many interesting nonlinear systems, including racing motorcycles
and cars, satellites, reduced G drones, marine robotics, and others. The projection operator provides a
key tool for discovering interesting properties of dynamic control systems.
Day 3: Thursday, October 21

Local Time: 08:00-09:00 (GMT - 5)
Prof. Germain García
LAAS-CNRS, France
Talk: Control of a Class of Switched Systems

Bio: He obtained his engineering degree in 1984, his PhD in automatic control in
1988 and the Habilitation to Conduct Research (HDR) in 1997 from the National
Institute of Applied Sciences (INSA) in Toulouse - France, where he is currently
a Professor of Exceptional Class dedicated to the area of control. Professor
Garcia is a researcher in the Methods, Algorithms and Control (MAC) group of
the Laboratory of Analysis and Architecture of Systems (LAAS) attached to the
National Center for Scientific Research (CNRS) in France. His most representative
results in the area of control include the direction of more than 20 PhD students,
the authorship of two research books and one teaching book, and numerous
papers published in journals and conferences, including papers in the journal Automatica and the
IEEE Transactions. His research interests include robust and hybrid control theory, matrix inequalities,
constrained control and perturbed singularity models.
Abstract: This work deals with the control of a class of switched systems. It originates from the
important problem of control of power converters. In that context, the majority of the problems of
interest can be translated into two main problems: stabilization or tracking. Numerous methods exist
in the literature to propose solutions which are based on the several ways of handling them into a
more appropriate context: linear, nonlinear, hybrid control, to cite the most important. These recent
years, a considerable effort has been done to derive control design methods taking into account the
specificities and properties of the complex behavior of these systems, going beyond the numerous
techniques based on approximated models or focused on specific topologies under study and, in that
way, doing a step towards a desirable genericity level. It is the objective of this work to go a step
further trying to tackle the problem in a unified way. The idea is to avoid, as much as possible, the
use of approximations and exploit all the mathematical properties of the associated switched models.
Writing them into a specific way, it is possible to deal with a lot of problems of interest whose solutions
are based on assumptions which are the expressions of some kind of practical feasibility, and then,
23
closely related to the existence of solutions to the studied problems. In some cases, the resulting
controls have an inevitable complexity level which reflects the one of the problems under study. For
such situations, the implementation issues are important and are not discussed in details in this talk
even if some implementation issues can be evoked.
Day 3: Thursday, October 21

Local Time: 11:00-12:00 (GMT - 5)
Prof. Cesar Cadena
EHT, Zurich, Switzerland
Talk: SLAM: Past, Present and Open Problems

Bio: He is senior researcher at the Institute of Robotics and Intelligent Systems
at ETH Zurich, working with the Autonomous Systems Lab, as well as co-leading
the ETH RobotX initiative. Cesar has been a research affiliate in the ARC Centre
of Excellence for Robotic Vision and a senior researcher at School of Computer
Science of The University of Adelaide. He held a postdoctoral position at the CS
Department of George Mason University after getting his PhD in Robotics from
the Department of Computer Science and System Engineering at the University
of Zaragoza. His main research interest lies in the interception of perception and
learning in robotics. He is particularly interested in how to provide machines
the capability of understanding this ever changing world through the sensory information they can
gather. He has worked intensively on Robotic Scene Understanding, both geometry and semantics,
covering Semantic Mapping, Data Association and Place Recognition tasks, Simultaneous Localization
and Mapping problems, as well as persistent mapping in dynamic environments.
Abstract: Robot localization is a key capability needed to enable truly autonomous mobile robots. In
this talk I will describe the SLAM (Simultaneous Localization and Mapping) problem, which consists in
the concurrent construction of a model of the environment (the map), and the estimation of the state
of the robot (localization) moving within it. I will first present the different and necessary components
of a prototypical SLAM system, from the sensor data through the data association and loop closure
to the state estimator. Then, I discuss some of the classical approaches to SLAM and show what is
now the de-facto standard formulation. During the talk I will cover a broad set of topics including
robustness and scalability in long-term mapping, metric and semantic representations for mapping.
Furthermore, I will delineate open challenges and new research issues that deserve careful scientific
investigation.
24
Day 4: Friday, October 22
Local Time: 08:00-09:00 (GMT - 5)
Prof. Jean-Philippe Steyer
INRAE, Laboratoire de Biotechnologie de l’Environnement (LBE), France
Talk: Instrumentation and control of wastewater treatment plants: Objectives, chal-

lenges and some solutions
Bio: He is a research director at INRAE-LBE since 1993 and is currently Deputy
Leader of Division TRANSFORM about “Science for Food, Bioproducts and Waste
Engineering” (600 full time positions all over France). He holds a PhD in Process
Control (1991). His research interests include modeling and optimization of
biological processes for waste and wastewater treatment and valorization. For
the last 10 years, the PhD students he supervised were dealing with modeling
of microbial diversity, integrating thermodynamics in mass balanced models,
developing metabolic models together with innovative real-time instrumentation systems to get closer
insights of the ecosystems life in bioprocesses and life cycle analysis to account for environmental
impacts. He also broadened his fields of applications, with anaerobic digestion as the core bioprocess
but integrating it with innovative processes such as microalgae cultivation for bioenergy and bioprod-
ucts sustainable production. He published 275 articles in international peer-reviewed journals, has
11230 citations and a h-index of 52 (Web of Science, January 2021).
Abstract: Wastewater treatment processes are highly efficient biological processes with specific
requirements in terms of instrumentation, control and automation. Non linearities, slow and fast
dynamics, uncertainties in process parameters, highly complex models, large changes in the process
inputs are among the main characteristics. This presentation will discuss the main challenges associated
to these characteristics (in terms of on-line sensors needed, modelling efforts and mathematical
complexity) but also the advantages and drawbacks of different control strategies that have been
applied in practice over the last 15 years.
25
Local Time: 11:00-12:00 (GMT - 5)
Prof. Juan Manuel Cordovez
Universidad de los Andes, Colombia
Talk: Mathematical tools that allowed us to make decisions to face the spread of
COVID-19 in Colombia
Bio: He is an associate professor in the Department of Biomedical Engineering
at Universidad de los Andes, and he currently is the Vice-provost for Research
and Innovation at the same institution. He holds a PhD degree in Biomedical
Engineering from the New York State University, and his research is focused
on the application of mathematical tools to model biological systems and gen-
erate computer simulations that allow for the understanding of observed and
hypothetical dynamics and behaviors. He has studied transmission dynamics of
diseases such as Chagas, Leishmaniasis, and Dengue. Currently, his research plays an important role to
understand the transmission dynamics of COVID-19 in Colombia and the development of mitigation
politics.

Local Time: 14:00-15:00 (GMT - 5)
Prof. Freddy Naranjo
Universidad Autónoma de Occidente, Colombia
Talk: Technology and Planetary Crisis: Ideas for a new Engineering in the Anthro-
pocene
Bio: He is a Mechanical Engineer (Universidad del Valle), Magister in Mechanical
Engineering (University of Sao Paulo, Brazil) and Doctor in Automation and In-
dustrial Informatics (Universidad Politécnica de Valencia, Spain). He has worked
as a teacher and researcher in the area of automation and is the author of
several publications especially on issues related to nonlinear control. As founder
and president of the Colombian Association of Automatics, he contributed to
the consolidation of that academic community, being in charge of organizing
national and international events. In 1998, he led the creation of the first Mecha-
tronics Engineering program offered in the country. He was linked to Pontificia Universidad Javeriana -
Cali, where he was Co-Director of the Automation and Robotics Group - GAR - and head of graduate
studies in Engineering. He has held other academic leadership positions and is currently the Dean of
the Faculty of Engineering at the Universidad Autónoma de Occidente. In 2019, he received the Alain
Gauthier award, awarded by the Colombian chapter of Automatic Control of the IEEE. As the creator
of Fablab Cali, he has organized various academic events and has contributed to the dissemination of
digital manufacturing technologies and their use in education at different levels, under a collaborative
work approach. His main current motivation is to contribute to the development of an engineering
concept that allows the transition to a better world.
26
Workshops
Workshop 1: Tuesday, October 19

Title: Fast actuation and adaptation in Aerial Modular Robots
Local Time: 11:00-13:00 (GMT - 5)
Room Laplace
David Saldaña
Lehigh University, USA
Bio: He is an Assistant Professor in Computer Science and Engineering at Lehigh

University. He worked as a Post-Doctoral Researcher at the GRASP Laboratory,
University of Pennsylvania. His main research is focused on modular aerial
robots, multi-robot systems, and robot swarms. He received his B.Sc. (2010) and
M.Sc. (2012) in Informatics Engineering from National University of Colombia,
and his Ph.D. in Computer Science, Artificial Intelligence and Robotics at UFMG,
Brazil (2017). His current projects include enhancing resilience in large-scale
robot networks, and co-designing algorithms, dynamical models, and robot
hardware for modular robots.
Abstract: During emergencies in urban scenarios, tasks like manipulation and transportation need
to be performed rapidly to save human lives. Instead of using large and task-specific robots, we
propose modular robot swarms, composed of hundreds of aerial modules that can rapidly adapt to
achieve aerial tasks. Those modular robots must be able to rapidly change their shape and actuation
capabilities to perform adaptable operations in time-critical situations. The potential and flexibility of
the modular aerial systems are mainly in their ability to change their shape by creating and removing
physical connections between modules. In this workshop, we describe the main concepts in this area
and our recent results on aerial vehicles that can self-assemble, self-adapt, and self-heal in midair.
Our work is mainly focused on co-designing algorithms, dynamical models, and robot hardware that
enhances adaptability, scalability, and resiliency.
27
Title: Robust optimization in cyber-physical systems with applications in
electricity demand response
Local Time: 11:00-13:00 (GMT - 5)
Room Lyapunov
Mahnoosh Alizadeh
University of California at Santa Bárbara, USA
Bio: She is an assistant professor of Electrical and Computer Engineering at

the University of California Santa Barbara. She received the B.Sc. degree (’09)
in Electrical Engineering from Sharif University of Technology and the M.Sc.
(’13) and Ph.D. (’14) degrees in Electrical and Computer Engineering from the
University of California Davis. From 2014 to 2016, she was a postdoctoral scholar
at Stanford University. Her research interests are focused on designing network
control, optimization, and learning frameworks to promote efficiency and re-
siliency in societal-scale cyber-physical systems. Dr. Alizadeh is a recipient of
the NSF CAREER award.
Berkay Turan
University of California at Santa Bárbara, USA
Bio: He is pursuing the Ph.D. degree in Electrical and Computer Engineering

at the University of California, Santa Barbara. He received the B.Sc. degree
in Electrical and Electronics Engineering and the B.Sc. degree in Physics from
Bogazici University, Istanbul, Turkey, in 2018. His research interests focus on
designing efficient control mechanisms and robust distributed optimization
methods for cyber-physical systems.
Abstract: Distributed optimization algorithms have found wide applications in

many cyber-physical systems where it is not possible to centrally coordinate
the behavior of multiple agents towards optimal system operation. Examples
include power system optimization, network routing, or robot formation control. However, classical
distributed optimization algorithms require all communications between the agents and a central coor-
dinator to be trustworthy, making them susceptible to failure due to many factors such as adversarial
influences, component failures, or miscommunication. Consider for example the case of residential de-
mand management in power system optimization through home energy management (HEM) systems.
Should a few HEM units in a neighborhood become compromised by an adversary, distributed energy
management algorithms may fail to converge, or even worse, power system constraints might become
violated, potentially leading to grid failures. Motivated by this challenge, this workshop will 1) briefly
introduce a number of representative distributed optimization algorithms in cyber-physical systems;
2) discuss the importance of designing distributed optimization methods that are robust to arbitrary
and potentially adversarial corruption of the agents for distributed resource allocation and distributed
28
learning problems; 3) introduce a new robust primal-dual algorithm for distributed resource allocation
problems. Because resource allocation schemes operate on actual physical infrastructure, a challenging
task for robustness is to guarantee the safety of the system despite adversarial influences. 4) Lastly,
we will demonstrate that robust temporal averaging significantly improves performance in many
distributed resource allocation and distributed learning problems subject to adversarial corruption.

Title: Decentralized algorithms for collaborative learning
Local Time: 15:20-17:20 (GMT - 5)
Room Lyapunov
Ying Sun
Pensylvania State University, USA
Bio: She is an assistant professor in the Department of Electrical Engineering

at The Pennsylvania State University. She received the B.E. degree in electronic
information from the Huazhong University of Science and Technology, Wuhan,
China, in 2011, and the Ph.D. degree in electronic and computer engineering
from The Hong Kong University of Science and Technology in 2016. She was a
postdoc researcher with the School of Industrial Engineering, Purdue University
from 2016 to 2020. Her research interests include statistical signal processing,
optimization algorithms and machine learning. She is a co-recipient of a student
best paper at IEEE International Workshop on Computational Advances in Multi-
Sensor Adaptive Processing (CAMSAP) 2017, and a recipient of the 2020 IEEE Signal Processing Society
Young Author Best Paper Award.
Abstract: Advances in computation, communication, and data storage techniques in recent decades
significantly reduced the cost of data acquisition, leading to an explosion of data generated across
different interconnected platforms. Apart from the computational difficulties that arise from non-
convex formulations, the sheer volume and spatial disparity of data also pose challenges to traditional
learning procedures, which typically require centralized training sets. Reaping the dividend offered by
the data deluge necessitates the development of collaborative learning methods capable of making
inferences from data over the network. This workshop discusses some recent developments in decen-
tralized learning algorithms and their computational and statistical guarantees. A quick introduction
to distributed optimization will be given in the first part of the workshop. Then we will present a novel
algorithmic framework, SONATA, and its convergence for learning problems in different classes. The
second part of the workshop focuses on the statistical properties of the algorithms. While statistical-
computation tradeoffs have been largely explored in the centralized setting, our understanding over
meshed networks is limited. Distributed schemes, designed and performing well in the classical low-
dimensional regime, can break down in the high-dimensional case; and existing convergence studies
may fail to predict algorithmic behaviors. This is mainly because most distributed algorithms have
been designed and studied only from the optimization perspective, lacking the statistical dimension.
Through some vignettes from low- and high-dimensional statistical inference, we will go over some
designs and new analyses aiming at bringing statistical thinking in distributed optimization.
29
Title: Optimal structured control in spatially-distributed systems: convexity,
performance and decentralization
Local Time: 15:20-17:20 (GMT - 5)
Room Laplace
Juncal Arbelaiz
Massachusetts Institute of technology – MIT, USA
Bio: She is a PhD candidate in Applied Mathematics at MIT, with a previous

background in engineering. Her research revolves around the design of optimal
structured controllers and estimators for spatially-distributed systems, with par-
ticular emphasis on systems in which the dynamics are described by PDEs. Often,
she draws inspiration from biology to come up with novel problem formulations
and control architectures. She has received several awards and recognitions for
her academic work, including the National Award for Academic Excellence from
the Government of Spain, a Google scholarship, and a Presidential Fellowship
from MIT.
Abstract: Large-scale networks of spatially distributed dynamical systems are common in modern
applications. For these, traditional optimal control design techniques, such as Linear Quadratic
Regulation (LQR), usually yield all-to-all (centralized) communication topologies which are often
prohibitive due to their large scale. This challenge justifies the increasing interest of the research
community in the design of optimal spatially structured controllers, with limited information exchange
between subsystems. In the first part of this workshop, we will briefly cover the well-known LQR
problem and study properties of its solution. Afterwards, we will present some approaches to the
design of optimal spatially structured controllers and discuss associated challenges. In the second part
of the workshop, we will focus on systems in which the underlying dynamics are spatially invariant (SI),
a particular class of spatially distributed systems, suitable to model large arrays of identical subsystems.
We will study the spatial localization properties of optimal controllers for SI systems and introduce a
convex formulation for the design of optimal controllers with spatial structural constraints. We will
provide some examples to ease understanding.
30
Title: Resilient distributed machine learning: Secure multi-agent federation
Local Time: 15:20-17:20 (GMT - 5)
Room Kalman
Lili Sue
Northeastern University, USA
Bio: An Assistant Professor in the Dept. of Electrical & Computer Engineer-

ing with a courtesy appointment in Khoury College of Computer Sciences at
Northeastern University. Prior joining Northeastern, she was a Postdoc in MIT
Computer Science & Artificial Intelligence Laboratory (CSAIL) from 2017-2020,
hosted by Prof. Nancy Lynch. She obtained her Ph.D and M.S. degree from
Dept. of Electrical & Computer Engineering at University of Illinois at Urbana-
Champaign in 2017 and 2014, respectively. Her research intersects machine
learning, security & privacy, and distributed systems. She was a finalist (1/3) for
the Best Student Paper Award at DISC 2016, and she received the 2015 Best Stu-
dent Paper Award at SSS 2015. She received UIUC’s Sundaram Seshu International Student Fellowship
for 2016 and was invited to participate in Rising Stars in EECS (2018). She has served on TPC for several
flagship conferences including DISC, SIGMETRICS and ICDCS.
Abstract: With the rapid increasing data-collection, storage, and computation capabilities of personal
computing devices such as laptops and smartphones, and with the growing popularity of wearable
devices such as Apple Watch, one recent trend in machine learning is to outsource part of the involved
computation burden to external edge and/or end devices; in a sense, the edge and end devices can be
viewed as external workers of the cloud.
In this workshop, we will introduce Federated Learning - a practical learning paradigm wherein the
training data is kept confidentially on users’ own end devices. Then we will talk about the vulnerabilities
of FL to different types of internal and external failures and attacks – formal and rigorous mathematical
models will be provided. We will talk about several state-of-the-art approaches to tackle this variety of
vulnerabilities, starting from the relatively simple distributed context awareness problems to the more
advanced Byzantine-resilient regression problems. Specifically, we will talk about how to be able to
handle the local data sparsity, measurement contamination, arbitrarily malicious misleading messages,
adversary collusion, etc.
31
Timetable
Colombian conference on
Automatic Control
OCTOBER 19TH - 22ND / 2021
Ibagué, Colombia
TECHNOLOGICAL ADVANCES FOR A SUSTAINABLE
REGIONAL DEVELOPMENT
Day 1 Day 2 Day 3 Day 4

Local Time October 19 October 20 October 21 October 22
7:30 - 8:00 a.m. Opening Ceremony Opening Ceremony Opening Ceremony Opening Ceremony
Plenary # 4 Plenary # 6 Plenary # 8

Plenary # 1 Prof. Jean - Philippe Steyer
8:00 - 9:00 a.m. Prof. Kristin. Pettersen Prof. Bart De Moor Prof. Germanin Garcia
Katholieke Universeteit Leuven, Belgium LAAS - CNRS, France INRAE, Laboratoire de Biotechnnologie
Norwegian University of de l’Environnement (LBE)
Science and Technology - NTNU
9:00 - 9:20 a.m. Coffee Break Coffee Break Coffee Break
9:20 - 9:30 a.m. Coffee Break
Plenary # 2
Technical Technical Technical Technical Technical Technical Technical Technical Technical
9:30 - 10:30 a.m. Prof. Stephanie Gil
Harvard University Session 1 Session 2 Session 3 Session 10 Session 11 Session 12 Session 13 Session 14 Session 15
10:30 - 10:40 a.m.

Coffee Break
10:40 - 11:00 a.m. Coffee Break Coffee Break Coffee Break
Plenary # 7 Plenary # 9
11:00 a.m. - 12:00 m. Technical Technical Technical Prof. Cesar Cadena Prof. Juan Manuel Corovez
Workshop Workshop ETH, Zurich, Suiza Universidad de los Andes
Session 4 Session 5 Session 6
I II
12:00 m. - 12:20 p.m.
12:20 - 13:00 p.m. Lunch Lunch
Lunch
1:00 - 2:00 p.m. Lunch
2:00 - 2:30 p.m. Plenary # 3 Plenary # 5 Poster Session Plenary # 10

Prof. Leonid Fridman
Prof. John Hauser Prof. Freddy Naranjo
Universidad Nacional
2:30 - 3:00 p.m. Autónoma de México - UNAM University of Colorado, USA IEEE Control Chapter Meeting UAO, Colombia
3:00 - 3:20 p.m. Coffee Break Coffee Break Coffee Break
Technical Technical Technical Closing Ceremony

3:20 - 5:00 p.m. Workshop Workshop Workshop Controlavirus Challenge
Session 7 Session 8 Session 9
III IV V
5:00 - 5:20 p.m.
Networking Cultural Activity
5:20 - 6:00 p.m. Networking
Comprometidos con el desarrollo regional

Vigilada Mineducación
32
Technical Sessions
Technical Session 1
Wednesday, October 20, 09:20-10:40 | Room Lyapunov
Robotics and Mechatronics I

Chair: Johanna Castellanos, Pontificia Universidad Javeriana, Colombia
9:20-9:40 ID 24 | Third order super twisting algorithm applied to a robotic arm with 3 degrees
of freedom, Cesar Eduardo Conejo Benitez, Ixbalank Torres Zúñiga, Edmundo Rocha
Cózatl and Jose Ángel Diosdado De la Peña.
Abstract: This work presents the modeling and simulation of a robotic arm with three degrees of
freedom (3 DOF), and the implementation of a robust closed-loop control law, based on the third-order
super twisting algorithm (3 STA), to direct the final position of the robotic arm to a different position
from the initial one within its workspace, even in the presence of perturbations and parametric
uncertainties in the dynamic model. To achieve the robotic arm movement, a linear trajectory was
planned with the use of the kinematic model and a fifth degree polynomial. Smooth movements are
therefore generated in each joint during the execution of the trajectory.
9:40-10:00 ID 40 | Dynamic model of an aircraft propulsion system with electric motor and
propeller, Manuela Montoya and Luis B. Gutierrez.
Abstract: This paper presents a mathematical model for the dynamic behavior of a electric propulsion
system for an aircraft. The system is composed of a Li-Po battery, an electronic speed control (ESC), a
brushless DC motor (BLDC), and a propeller. Models are obtained for each component of the system
and then they are implemented and integrated for numerical simulation in m language in Octave.
The model takes into account the hybrid nature of the system, given that the switching dynamics
of the ESC is considered as a discrete event model, while the dynamics of the other components is
continuous. The parameters used in the simulation have realistic values associated to the model of
a small unmanned aerial vehicle (UAV) propulsion system, but with adequate parameters it could
represent the dynamics of a larger scale electric manned aircraft. Simulation results show a reasonable
behavior and further work will be done to estimate the parameters for a real UAV prototype, based on
the proposed model.
10:00-10:20 ID 6 | Design and construction of a bipedal robot prototype based on the ROS
operating system for balance experiments during the static standing phase, Andrés
Lopez, Franco Gutierrez, Jeison Tacué and Diego Bravo.
Abstract: This paper presents the results obtained in the design and construction proposal of a 12
DOF bipedal robot, based on the ROS operating system for the balance experiments during the static
standing phase and generation off-line gait joint trajectories. This robot was made with electronic and
33
structural features, looking to omnidirectional walk. ROS operating system used, to have a distributed
execution of the algorithms, different programming languages, and connectivity between different
devices. Obtaining as results, the monitoring of the robot’s CoP using the pressure sensors and a PID
balance controller applied to the Cart table model of the proposed robot, verified by simulation in
MATLAB Simulink.
10:20-10:40 ID 10 | Dynamics of a Differential Wheeled Robot: Control and Trajectory Error

Bound, Gilberto Díaz-García, Luis Felipe Giraldo and Santiago Jiménez-Leudo.
Abstract: Trajectory tracking in differential wheeled robots is an important and well-studied problem
in mobile robotics and control theory. Although several solutions have been proposed to address this
problem, the performance analysis of the controlled system typically focuses only on the dynamics
that result from the differential drive kinematics, ignoring the effect of the components at lower levels
of the system, such as actuators and the strategy that controls them. In paper, we first present a model
that characterizes, at several levels of description, the dynamics of a differential wheeled robot that
follows a reference trajectory. Then, we derive a bound that reveals the relationship between the
intrinsic parameters of a differential drive robot and the tracking error, allowing us to study how the
dynamics at low levels of the system affect its tracking performance. Through simulations we show
the usefulness of the complete model and the trajectory error bound to study the tracking dynamics
of a differential wheeled robot.
Technical Session 2
Wednesday, October 20, 09:20-10:40 | Room Laplace
Power systems and Renewable Energy I

Chair: Alejandro Garcés Ruíz, Universidad Tecnológica de Pereira, Colombia
9:20-9:40 ID 27 | An optimized management model of the resources embedded on an isolated

water-energy microgrid for a Ranchería, Manuel Fernando Párraga Meneses, Arturo
Fajardo Jaimes and José Reinaldo Vuelvas Quintana.
Abstract: In a non-interconnected area, a water-energy microgrid with distributed energy (e.g., so-
lar panels, wind turbines, combined heat power, generators, Batteries) and water resources (e.g.,
desalination plant, atmospheric water generator, water storage tank) could serve the demand of a
discrete geographic footprint (i.e., a small town). This paper proposes an optimal management model
of this type of microgrids under the minimum operation cost goal. The mathematical formulation
is presented in detail, which involves constraints related to the operation of the system over a time
horizon of a week. The proposed model is validated using an estimation of the water-energy demand
of a generic small town located in La Guajira Department of Colombia, which is known as Rancher´ıa.
The numerical results show the effectiveness of the management model under four study cases.
9:40-10:00 ID 44 | Perturbe and Observe MPPT algorithm with integral actions, Miguel Vivert
Del Pino, Francisco Naranjo, Gerardo Collaguazo and Isabel Quinde.
Abstract: The presented article proposed an algorithm to obtain the maximum power in a solar panel.
It is based on classical P&O, using integral actions of the power and the voltage. Furthermore, the
34
proposed method does not have a switching part, meaning that it does not produce a chattering effect.
Two simulations are shown. The first one compares the proposed method and the classical one. In the
second test, the proposed algorithm is applied to a classical application. The algorithm shows high
performance in both simulations, reaching the maximum power with a fast time response. Finally,
conclusions and future works are presented
10:00-10:20 ID 45 | Data-Driven Voltage Secondary Control for Microgrids, Vladimir Toro, Duvan
Tellez-Castro, Eduardo Mojica-Nava and Naly Rakoto-Ravalontsalama.
Abstract: This document presents a secondary voltage data-driven control for an alternate current
microgrid (MG). Following the hierarchical control frame for MGs, a secondary control is designed
with a complete data-driven strategy using the Koopman operator. This allows managing the nonlinear
behavior of voltage as a linear problem in the space of observables of Koopman operator, making it
suitable for the model predictive control design. The complete algorithm is proved in an MG model in
two scenarios: a linear approach using power measurements, and a data-driven approach using the
nonlinear model. The data-driven model shows a good performance for voltage regulation to load
changes.
Technical Session 3
Wednesday, October 20, 09:20-10:40 | Room Kalman
Applied control I
Chair: Maximiliano Bueno-López, Universidad del Cauca, Colombia
9:20-9:40 ID 71 | Anticipative pH Control of Sugarcane Juice, Edwin Alejandro Herrera and Tito
Arles Silva.
Abstract: pH control is a very important variable in the sugar and ethanol industry. This is a non-linear
system, with multiple perturbations. This work proposes an optimal solution to control this variable
and some perturbations for a real plant. The proposed strategy validates results and statistics in
real-time.
9:40-10:00 ID 29 | Endometriosis: A Control Theory Approach, Carolina Ramírez Mazo, Laura

Lema-Pérez and Lina Gómez Echavarría.
Abstract: In this paper, a possible explanation of the causes of endometriosis is given, based on
parametric analysis of a dynamic model that describes the endometrial cycle. This phenomenological-
based semi-physical model uses the Monod equation as a constitutive equation in the mass balance of
the proliferative and secretory cells. The model inputs are estrogen and progesterone. This dynamic
model is a harmonic oscillator that considerably modifies the dynamics of the cells that making up the
endometrium when the relation between the affinity parameters of the estrogen and progesterone
are modified. This behavior can generate an overflowing growth of the endometrium, resembling an
endometriosis development and therefore, an unbalance between estrogen and progesterone levels
-an unopposed estrogen condition- becomes the scenario enhancing the pathology, rather than an
isolated estrogen effect.
35
10:00-10:20 ID 35 | Parallel powertrain bench for control strategies validation on HEV, Tatiana
Manrique Espíndola, Felipe Henao Ramirez, Felipe Mendoza Giraldo and Juan Camilo
Tejada.
Abstract: A significant percentage of polluting gases comes from the conventional use of fossil fuels as
energy source in transport. Electric hybridization of vehicles stands as an inter-mediate step between
fossil fuels and fully electric alternatives. In the development of this market, the implementation of
adequate control strategies to handle properly both sources of energy is of paramount importance.
Suitable control strategies for hybrid electric power trains achieve system reliability while addressing the
issue of how both energy sources must be properly used in order to reach energy efficiency and increase
autonomy. Inthe present paper, the design, manufacturing and control of a mechatronic hybrid power
train bench for testing and validating control strategies for hybrid electric power trains in parallel
configuration is presented. Furthermore, the mechatronic test bench dynamics is experimentally
identified and model-based and data-driven controllers are proposed.
10:20-10:40 ID 36 | Design and Simulation of a Voltage Control Based on Neural Networks, Brian
Noriega, Juan Romero, David Páez, Jose Guarnizo and Jhon Bayona.
Abstract: In this paper is proposed a strategy to control the output voltage of a dc-dc forward converter
using an artificial neural network, which generates a duty cycle that regulates the transistor. The
artificial neural network (ANN) is composed of an error backpropagation learning algorithm together
with an inertia coefficient, which modifies the learning capacity of the network. Furthermore, it runs
in line with the converter, which allows it to adapt to system variations, in this case, the alteration of
the load resistance. Also, a study is made on how the variation of some parameters of the network
alters the response of the converter, and this is developed in simulations in Matlab/Simulink.
Technical Session 4
Power Electronics
Chair: Gustavo Osorio, Universidad Nacional de Colombia, Colombia
11:00-11:20 ID 4 | Towards a Simulation Platform for Islanded-Microgrids based on Virtual Grid-

Supporting Power Converters, Carlos Xavier Rosero, Cristina Vaca, Milton Gavilanez,
Iván Iglesias and Ramiro Rosero.
Abstract: Abstract—Microgrids (MGs) are small power systems used in the generation, distribution
and regulation of electricity, which can operate in two modes: grid-connected and islanded. If an
MG works in islanded mode, the reference control signals for voltage and frequency provided by big
generators are missing, and therefore the control of the MG dynamics becomes a major challenge. In
this scenario, current research is focused on developing policies to meet two main control objectives:
active/reactive power sharing and voltage/frequency regulation. This work proposes a simulation
approach to emulate islanded MGs where the distributed generation units are based on virtual grid-
forming power converters working as voltage sources. In this context, the droop method for frequency
and voltage is the control scheme used for connecting multiple voltage sources that share the load
and maintain the voltage quality. The framework includes virtual elements developed from two
36
Matlab toolboxes: Simscape Power Systems and Truetime. Simscape covers the simulation of power
electrical/electronic devices; Truetime facilitates the simulation of dinamically distributed realtime
kernels executing control tasks. Like other simulation approaches, this proposal has the benefit to allow
the theory to be quickly verified before moving on to experiments that could be difficult, expensive
and sometimes dangerous. To test the validity of the proposal, a virtual microgrid close to reality has
been replicated and subjected to an operating scenario that joins a set of conditions such as sequential
starting of the converters, clock drifts and electrical partitions.
11:20-11:40 ID 15 | A Double Dual Boost Converter with High Gain and Ripple Cancellation for
PV Systems, Elkin Edilberto Henao-Bravo, Carlos Andrés Ramos-Paja and Juan Pablo
Villegas-Ceballos.
Abstract: This study proposes a photovoltaic system based on a double dual boost converter, which is
aimed at providing high voltage gain and higher efficiency in comparison with classic boost solutions.
The dynamic model of the system is presented, and a cascade controller is designed to regulate the PV
voltage and the inductors current. The controller is composed by an inner sliding mode control strategy
to guarantee the same average current in both inductors. An outer PI controller is designed to regulate
de PV voltage and to follow the MPPT reference. The proposed system shows an improvement in both
efficiency and voltage gain capability, and also there is a ripple cancelation on the PV current, leading
to an increase in the power extraction.
11:40-12:00 ID 32 | Sliding control applied to a single-phase current source inverter, Marycarmen

Rivera Montezuma, Enric Fossas Colet and Fabiola Angulo.
Abstract: This work presents the design of a sliding control applied to a single-phase current source
inverter connected to the grid. To avoid harmonic distortion, the current supplied to the grid must
be in phase with the voltage grid, which is assured by the sliding control. As the inverter is fed by
a photovoltaic panel, a PI digital control is added with the aim to track the maximum power point
and to generate de reference value of the current that will be used by the sliding controller. The
system formed by the inductor connected in series with the panel acts as a current source allowing
a constant current through the link. Simulation results show that the entire system (current source
inverter, sliding control and PI controller) fulfills the problem specification. Namely, the current is in
phase with the voltage network, tracking the maximum power point and keeping a low total harmonic
distortion.
12:00-12:20 ID 43 | Bubbling phenomenon in a unipolar SPWM inverter, Anderson Fabian Abella,

José D. Morcillo and Fabiola Angulo.
Abstract: Bubbling phenomenon, bifurcations, and high periodic solutions are present in different
applications of power inverters and have been widely reported in the literature. In particular, in this
paper we present the dynamic analysis of a buck-inverter power system with unipolar switching. By
changing the PWM scheme from bipolar to unipolar, it is shown how bifurcations, chaos, and high
periodic solutions are suppressed but the bubbling phenomenon is preserved. Even more, a less pro-
nounced bubbling dynamics is achieved and only appearing on the sinusoidal signal’s downward slope
of 1T-periodic solutions. In addition, an algorithm is developed to observe the bubbling phenomenon
in more detail by detecting the time-on of the switches in every system state. This approach shows
the transition of the system states in a phase period and the affectation of the switching dynamics due
37
to the bubbling phenomenon.
Technical Session 5
Process instrumentation and automation I

Chair: Andrés Pantoja, Universidad de Nariño, Colombia
11:00-11:20 ID 55 | Instrumentation system for estimating the metabolic state during the use of the
bicycle as a means of transportation, Gerardo Realpe Alvarez, Jose David Chiza Ocaña,
Jose Miguel Ramírez Scarpetta, Carlos Alejandro Lopez Albán and Esteban Emilio Rosero
García.
Abstract: This work intends to make the implementation of a mathematical model for estimating
respiratory gases of a cyclist on a system for estimating metabolic state using Bluetooth low energy
technology, which its input is pedaling power measurement and as output will be the respiratory gases.
This data will be enough to estimate the metabolic state of the user.
11:20-11:40 ID 74 | Distributed Thermal Circuit for Modeling and Identification of Thermoelectric

Process, Juan Gabriel Araque Mora and Luis Angel Silva.
Abstract: This Paper describes the development on of a heat transfer model based on the theory of
electrical and thermal circuits. In the process studied, a Peltier device tries to maintain a larger metal
surface in a desired temperature condition. The peltier cell is implemented with discrete, thermal and
electrical components, calculated according to the specifications of the manufacturer’s datasheet.
Heat transfer by conduction and convection through the metal plate is modelled by a distributed
thermal circuit. The distributed element model of the thermal circuit facilitates connection with the
Peltier devices and other thermal components situated in different positions on its surface. Parametric
identification of the process shows how the different operating conditions can be modeled intuitively
and their thermoelectric parameters measured directly.
11:40-12:00 ID 7 | Design a framework for Implementation of digital controllers in Enegria IDE

using Texas Instruments microcontrollers, Diego Ramirez Jimenez, Alexander Lopez
Parrado and Jaime Velasco Medina.
Abstract: This paper presents a framework for the implementation of digital control strategies using
Texas Instruments C2000 microcontrollers. The framework was implemented by modifying the Energia
IDE, which is an Open-Source software similar to Arduino IDE, but oriented exclusively to some Texas
Instruments microcontroller families. Energia IDE was modified to support a new board based on the
F2837xD microcontrollers family, to achieve this, we performed some experiments and modifications
in files from Energia IDE through tools like Load TI and UniFlash. In addition, we created new source (.c)
and header (.h) files similar to those used by Code Composer Studio. Finally, we designed an API for the
implementation of digital control strategies and resource management in C2000 microcontrollers.
12:00-12:20 ID 19 | Telemetry device for the supervisory system, Patrick Assunção, Rodrigo da
Silva, Phellipe Dinardi, Erik Guedes and Cristiano Goes.
38
Abstract: Industry 4.0 demand development, and as tools we use IoT devices to meet these demands,
this project offers a temperature telemetry device of an injection machine, being monitored by a
supervisory system. The aim of this paper is present the architecture and results of a management
solution implemented at an industry of Manaus. As WiFi module it was used for ESP-32 (Espressif),
as a slave. RaspBerry as the local server, and ScadaBR as monitoring software. and all stages of the
project will be explained, as well, the theory that surrounds it.
Technical Session 6
System Identification
Chair: Nicanor Quijano, Universidad de los Andés, Colombia
11:00-11:20 ID 22 | Determinación de los valores numéricos de los parámetros de crecimiento

de microalgas basado en datos experimentales fuera de línea, Mario Alfonso Ferreira
Rivera, Fernando López Caamal, Glenda Cea Barcia and Ixbalank Torres Zúñiga.
Abstract: La reducción de los niveles atmosféricos de dióxido de carbono (CO2), gas de efecto inver-
nadero, es un objetivo prioritario a nivel global, por lo tanto, se hace necesario desarrollar procesos
que permitan eliminar el CO2 generados industrialmente. Una opción que ha tomado fuerza en los
últimos años ha sido el uso de las microalgas. Este artículo trata sobre la estimación de parámetros en
un sistema dinámico que representa el cambio de las concentraciones en el tiempo para un cultivo de
microalgas. El comportamiento de las concentraciones que caracterizan estos cultivos está descrito en
este artículo por medio de ecuaciones diferenciales ordinarias. Consecuente a esto, en el presente
trabajo se desea conocer los parámetros para dos modelos (Droop y Filali) utilizando i) una búsqueda
estocástica en el espacio de parámetros admisibles para evitar mínimos locales de la función objetivo
a minimizar y ii) las funciones y fminsearch y fmincon del software Matlab, para obtener una mejor
aproximación del valor que minimiza globalmente la función objetivo. Dicha función objetivo se con-
struye por medio de la comparación de datos experimentales disponibles en la literatura y la solución
de la ecuación diferencial ordinaria con los parámetros propuestos.
11:20-11:40 ID 26 | Data-based coffee fermentation model using Particle Swarm Optimization,

Nadia Rosero, Andrés Pantoja and Brenda Rosero.
Abstract: This paper presents a data-based discrete-time linear model for a coffee fermentation process.
The selected state variables (Brix degrees, Hydrogen potential (pH), and in-tank temperature) are easily
measured in real process and properly reproduce a simple model with the ambient temperature as
input. The parameter identification is performed using Particle Swarm Optimization (PSO) to find the
best fitting for experimental data. Two models are analyzed with complete and reduced parameters to
validate the performance, obtaining best results for the reduced model.
11:40-12:00 ID 13 | Parameter estimation for a dynamic second order system overdamped, a

new approach, Jesús Barrera.
Abstract: To design a control system it is necessary having it’s most accurate mathematical model
as possible, so that the results of its implementation be as expected. Several methods have been
39
proposed to determine the overdamped system parameters, some of them use the response curve
to step function and based on the information of some points of the curve and with the help of
graphics and standardized curves, the parameters are determined [1]–[3]. Other methods make use of
identification techniques such as minimum squares [4], [5], or through genetic algorithms [6], [7]. This
paper discusses how to determine the transfer function parameters for a second order overdamped
system, ζ, ωo and K DC, but unlike other approaches based on the aforementioned parameters [8],
[9], the problem is expressed in terms of p1, α and KDC, with p1 being the dominant pole, α the ratio
between p1 and p2 , the fastest pole (p2 /p1 = α) and K DC [10]. The algorithm for estimating KDC,
p1 and α parameters is shown, in an analytical way, by using two points in the reaction curve and
without the use of graphics as indicated by [1], [2], [11]. An example is made from the simulation of an
overdamped electrical system to which the proposed method is applied, in which it is appreciated that
the results obtained by the proposed method are better than the other methods considered.
12:00-12:20 ID 12 | Observability analysis and state estimator proposal for the chocolate conching
process, Camila Gonzalez Arango, Carlos Ocampo-Martinez and Diego A. Muñoz.
Abstract: The conching process is a crucial stage involving the development of sensory attributes and
rheological properties of the final product. Currently, the monitoring of critical variables during this
process is done off-line through extensive measurements with conventional methodologies based
on laboratory analysis, e.g., the quantification of the concentration of the volatile active compounds
of the flavor and aroma of a chocolate batch and its viscosity. All of them are related to an indicator
for the chocolate sensory quality known as Conching Degree (CD). In this work, the observability
analysis for a Phenomenological Based Model for the conching process is done as a first condition for
the solution of a state estimation problem. Besides, the initial idea of a virtual sensor is proposed
considering the available measurements from the conching process.
Technical Session 7
Applied Control II
Chair: Hernán Álvarez, Universidad Nacional de Colombia, Colombia
15:20-15:40 ID 48 | Chaos Synchronization and its Application in Parallel Cryptography, Kevin H.

M. Gularte, Juan C. G. Gómez, Max E. Vizcarra Melgar and José A. R. Vargas.
Abstract: This paper proposes an underactuated synchronization scheme for Chua’s system with appli-
cation in analog secure communication. Based on Lyapunov’s theory, a control scheme is presented,
which in contrast to the most commonly found in literature, uses a proportional control signal in
only one of the state equations of the slave system. The main advantages of the proposed secure
communication scheme are its simplicity and robustness against internal and external disturbances.
Disturbances were considered in the stability analysis. These peculiarities are of great significance in
practical applications. To validate the proposed approach, we considered a synchronization of two
chaotic Chua circuits in the presence of disturbances.
40
15:40-16:00 ID 50 | Underactuated 4D-Hyperchaotic System for Secure Communication in the
Presence of Disturbances, Kevin H. M. Gularte, Juan C. G. Gómez, Max E. Vizcarra
Melgar and José A. R. Vargas.
Abstract: This paper proposes a secure telecommunication scheme based on the synchronization
of an underactuated 4D-hyperchaotic system. It is proven based on Lyapunov analysis that the
synchronization errors are bounded even with the consideration of disturbances in the stability analysis.
The proposed scheme requires only that control acts in two of the state equations of the slave system.
The scheme has as advantages to be robust against bounded internal and external disturbances.
Computational simulations have been done, including a secure telecommunication scheme, to validate
the robustness and simplicity of the method.
16:00-16:20 ID 38 | Towards blood glucose and insulin estimation using off-line data and missing
information, Cristian Hernández, Jhon Isaza Hurtado and Pablo Santiago Rivadeneira.
Abstract: Monitoring the blood glucose concentration in patients with type 1 diabetes mellitus is the
first step to exert a control action that regulates glucose homeostasis to improve the health status of
people. Such monitoring for various reasons can fail and present loss of data or spurious data, which
could generate erroneous control actions that generate episodes of hyperglycemia and hypoglycemia.
Therefore, a mobile horizon estimator (MHE) is designed to reconstruct the glucose concentration
taking into account the offline measurements of glucometers, in order to obtain more information
and adjust the state of the system when information is lost or appear data spurious. The incorporation
of sporadic measurements allows a better quality of prediction or reconstruction of the system and to
have quality information available when the online signal is lost information when the signal is lost
online.
16:20-16:40 ID 37 | Bio-inspired PSO technique applied to PID sintonization for power factor correc-
tion in a Boost Converter, Juan Romero, David Paez, Brian Noriega, Jose Guarnizo and
Jhon Bayona.
Abstract: This paper focuses on the problem of power factor correction in boost topology power
converters with average current control, without the need for a mathematical model of the system, the
PFC is performed by a PID controller, tuned with a bio-inspired algorithm, the controller parameters
are initialized randomly in a reduced sector of the space [Kd Kp Ki N], The research highlights the use
of the PSO algorithm and why its parallel processing and speed is useful when searching for a solution,
an adjustment in the classical algorithm to a Multi-PSO allows a multiple search system with a higher
success rate, the simulation of the converter and controller are implemented in MATLAB Simulink.
Technical Session 8
Education and didactics in Control

Chair: Francisco Combita, Universidad Distrital Francisco José de Caldas, Colombia
41
15:20-15:40 ID 16 | Development of a data-based hardware in the loop system for teaching control
subjects, Natalia Garavito Barreto, Jorge Cote Ballesteros and Jhon Edisson Rodríguez
Castellanos.
Abstract: Hardware in the loop schemes are widely used due to the advantages they offer in en-
vironments where it is hard to test the control system for a process. These facilities can be used
in control training and education environments; thus they offer flexibility on testing system stages.
Data-based hardware in the loop system is developed in the present work and implemented on a
low-cost embedded device. A study case is presented where a motor-generator model is built through
artificial neural networks. The system is validated by tuning and testing a closed-loop controller.
15:40-16:00 ID 17 | Application of technological tools in teleoperation and virtualization systems of

a didactic module used in automation courses in Engineering, Adriel Machado-Buelvas,
Juan Montiel-Acevedo, Vanessa Botero-Gómez and Jhon Isaza Hurtado.
Abstract: The development of ICT has generated changes in the different productive systems, as is the
case of education, where, by using them in an adequate way, great benefits are achieved for students
and teachers. Thus, during this work, an application of technological tools for the teleoperation and
virtualization of a didactic module used in engineering automation courses is presented. Two results
are presented as partial results of this research. First, the procedure for the implementation of digital
industry technologies that allow the remote connection of a teaching laboratory module, this will
allow its subsequent visualization and access to data in real time, manipulation and control of variables.
Second, a methodological proposal for the virtualization of the module, in this way it is possible to
emulate the plant-controller behavior in a more realistic environment.
16:00-16:20 ID 70 | Teaching control into a mass transfer operations course, Hernan Alvarez.
Abstract: This work presents a discussion about the inclusion of process control topics into the mass
transfer operations course in the chemical engineering curriculum. Mentioned inclusion is a part of the
changes in chemical engineering curriculum stated more than ten years ago in Universidad Nacional
de Colombia, Medellín campus. The advantages and disadvantages of this change are exposed in brief,
using as example the mass transfer course. The relevant aspects of teaching control systems for a
mass transfer processes course are listed. The liquid-liquid extraction mass transfer process is used as
examples to illustrate the mentioned topics.
16:20-16:40 ID 28 | A boiler model developed for teaching purposes, Angie Valentina Hurtado,
Maria Alejandra Rojas, Luisa Maria Alvarez and Mariana Ossa.
Abstract: This work presents the development of a phenomenological based semi-physical model
(PBSM) for a 10HP vertical fire tube boiler. The PBSM has the intention of being a didactic element
into a process control course. The aim is that through this PBSM the students will be able to use the
concepts of process control over a real equipment. Therefore, the model development is explained
in detail and all model equations are presented. The model solved in Python and complementary
material are available from a public website.
42
Technical Session 9
Modelling and control theory

Chair: Eduardo Mojica, Universidad Nacional de Colombia, Colombia
15:20-15:40 ID 11 | New formulation for the step response to the overdamped dynamic second order
systems, Jesús Barrera and Edgar Peñuela.
Abstract: Linear and time-invariant dynamic systems (L.T.I.) of second order, called overdamped, are
characterized because their poles are real and different. Usually the step response has been proposed
in terms of ζ, ω0 and KDC [1]–[3], which are called transfer function, G(s), parameters; others have
set it in terms of time constants τ1 and τ2 [4]–[6]. This article discusses the use of the dominant
pole p1 and the relationship between the fastest pole and that one, α := p2 /p1, p1 < p2, to state the
expression of the system response signal, y(t). This approach leads to a formulation of the expression
for the simplest system output signal, setting ζ and ω0 in terms of p1 and α. It should be noted that
this approach allows determining certain characteristics of the signal from output to input step, for
example, the determination of the settling time ts , rise time tr , fitting it with a polynomial for an easy
calculation, and finally the time in which concavity change occurs, what the other formulations do
not facilitate and the most important it is not necessary to simulate the system response to have this
information.
15:40-16:00 ID 69 | On the Implementation of Low-cost Home-made Aeropendulum Prototypes

for Improving Understanding of Dynamical Systems Concepts, Diana M. Ovalle M.
and Luis Francisco Combita Alfonso.
Abstract: This work shows recommendations for the implementation of a low-cost home-made
aeropendulum prototype, in order to have a working system at home to experiment and verify concepts
of dynamical systems with. The discussion includes options to select structural materials and electronics
components, aside from those elements a power supply and a computer are needed, allowing to
visualize and, therefore, analyze system behavior associated to specific concepts of dynamical systems
and control systems. A very basic implementation of the aeropendulum is shown, as well as some
results obtained with such prototype, with suggested further steps to motivate the respective analysis,
including some ideas for linear model parameter identification and stability behavior.
16:00-16:20 ID 72 | MBPC controller for UGV Trajectory Tracking, Oscar Barrero and Juan Carlos
Tique-Rangel.
Abstract: In this paper, the development of a tracking trajectories system for a skid-steering type
agricultural vehicle based on predictive control is presented. Since the vehicle operates outdoors, a
high precision measurement of the geolocation and orientation is needed, therefore, two Kalman filters
were designed. These filters fusion the position and orientation information of an inertial measurement
unit (IMU), wheel encoders and GPS (Global Positioning System) mounted on the vehicle. On the other
hand, for the autonomous tracking trajectories, two controllers were designed: first, a proportional
speed controller, and second, a model based predictive controller (MBPC) for the vehicle heading angle.
For the design of the MBPC, a dynamical model of the vehicle direction was obtained using a gray box
43
modeling, additionally, an incremental state space model strategy was use to design and deploy the
MBPC. Finally, the results show that the developed control strategy presents a good performance with
a RMSE about one meter in tracking outdoor trajectories
16:20-16:40 ID 25 | Identification for Cooling System in Flower Greenhouse, Juan Sebastian Ron-
cancio Arevalo, Jose Reinaldo Vuelvas Quintana, Diego Alejandro Patiño Guevara and
Carlos Adrian Correa Florez.
Abstract: The HVAC systems are essential loads in world energy consumption. The proper management
of these loads produces a reduction in energy demand. Colombia is an agricultural country, one of its
favorite products is flowers. That product needs to be refrigerated for three months to maintain its
quality or complete many flowers to export and commercialize. In favor of this reason, it is crucial
to have an exemplary refrigeration system or improve the current one. This article presents the
comparison among some standard system identification algorithms. This development is vital to the
flower greenhouses in the Boyaca region to improving efficiency in the post-harvest stage. Matlab
software makes the data processing and executes some system identification algorithms in order to
determine the most suitable tool for flower greenhouse cooling systems. This process aims to achieve
a fitting percentage above 80%. As a result, the N4SID algorithm presents the best performance with
a fitting of 81.23%
Technical Session 10
Thursday, October 21, 09:20-10:40 | Room Lyapunov
Robotics and Mechatronics II

Chair: Oscar Barrero, Universidad de Ibagué, Colombia
9:20-9:40 ID 61 | Earthquake Simulator, Andres Guzman, Cristian Camilo Leon Bohorquez, Jose
Reinaldo Vuelvas Quintana and Martha Manrique Torres.
Abstract: This paper presents the design and development of a two-degree-of-freedom scale system
to simulate seismic signals. A linear dynamic model is derived from the Parks transformation since
the plant has hybrid bipolar stepper motors. Laboratory tests are performed to validate the dynamic
behavior of the plant. PI control strategies are designed to ensure the tracking of seismic signals and
reduce the effect of disturbances. Experimental results verify the physical implementation when tested
from a database of real seismic signals.
9:40-10:00 ID 65 | Data-Driven motion tracking controllers comparison for a Flexible-Joint Robotic

Manipulator, Tatiana Manrique Espíndola, Juan Camilo Tejada Orjuela, Daniel Espinosa
and Sergio Pacheco.
Abstract: Modeling and control of flexible robotic manipulators in collaborative robotics applications,
face key issues when it comes to properly including non-linearities but keeping motion models and
controllers easy to handle. Machine learning (ML) strategies stand as well suited solutions to obtain
simplified models and derive controllers for flexible-joints or flexible-links manipulators. In the present
paper data-driven dynamics analysis and controller design for a Flexible-Joint Robotic Manipulator
(FJRM) are presented. The FJRM under study is a planar two-DOF manipulator with two flexible-
44
joints and two rigid-links. The implementation hereby described is determined by a comparative
analysis developed between direct and indirect data-driven controllers. Firstly, state-space feedback is
proposed from an experimentally identified model as an indirect framework. Secondly, a Neural PID
is designed and developed directly from data. The comparison results allowed to identify the most
appropriate controller topology to implement.
10:00-10:20 ID 47 | A Comparison of LiDAR Odometry and Mapping Techniques, Harold F Murcia

and Cristian F Rubio.
Abstract: Light detection and ranging LIDAR systems on-board mobile platforms are in rapid ad-
vancement for real-time mapping applications. Modern 3D laser scanners have a high data rate
which, coupled with the complexity of their processing methods, makes simultaneous online local-
ization and mapping (SLAM) a computational challenge. Different 3D LiDAR SLAM algorithms have
emerged in recent years, most notably LiDAR Odometry and Mapping and its derivatives. This paper
performs an implementation of A-LOAM, ISC-LOAM and LeGO-LOAM algorithms and a respective
comparison with the total sequences of the Kitti database which includes different environments and
routes from a Velodyne HDL-64E sensor. The results evaluate the performance of the methods on
computational cost, absolute error and relative error. Our code implementation is available online
https://github.com/HaroldMurcia/LOaM-comparison.
10:20-10:40 ID 42 | Design, Assembly and Working Modes of Spherical 3-RRR Coaxial Parallel
Robot, Duvan Marrugo, Angie Vitola, Jose Luis Villa and Michael Rodelo.
Abstract: Design, assembly and working modes of spherical 3-RRR coaxial parallel robot were per-
formed. A mathematical analysis of the robot was made, which consists of inverse and forward
kinematic using geometric and numerical methods, respectively using MATLAB © environment. Based
on the above, eight possible working and assembly modes were derived. The proposed approach
demonstrates that a unique solution for the specific assembly and working mode of a coaxial robot can
be calculated. Moreover, mechanical design of the robot prototype was performed in the SolidWorks
© design program presented in detail for experimental verification of the performed numerical and
simulation analyses. Results obtained from this work can be implemented in the development of
real time orientation control systems for coaxial robots. As future works, an analysis of singularities,
performance and dynamic will be carried out
Thursday, October 21, 09:20-10:40 | Room Laplace
Power systems and Renewable Energy II

Chair: Luís Felipe Giraldo, Universidad de los Andés, Colombia
9:20-9:40 ID 73 | Harmonic Power Flow Formulation based on the Linear Power Flow in Microgrids,
Johanna Castellanos, Diego Patiño, Carlos Adrian Correa-Florez, Gabriel Ordoñez-Plata
and Alejandro Garcés Ruíz.
Abstract: In this paper a harmonic power flow formulation for microgrids based on a power flow
linearized through Wirtinger’s calculus is presented. Through this formulation it is possible to calculate
45
the harmonic flow independently of the fundamental flow, which is an advantage when working with
tertiary control problems in microgrids. The algorithm with which the formulation was simulated is
presented. The fundamental and the harmonic power flow are implemented in a modified CIGRE test
case for microgrids. Finally, an evaluation of the harmonic distortion associated to the PV systems
modeled is exposed, and performance evaluation is also presented by comparing the presented
approach with the currents injection harmonic power flow method starting from an iterative power
flow.
9:40-10:00 ID 54 | Modeling a flat plate solar collector subject to time-varying environmental

conditions, Christian Camilo Uribe Mora, Fernando López Caamal, Guillermo Martínez
Rodríguez and Amanda L Fuentes Silva.
Abstract: Solar energy can be used through solar collectors that are heat exchangers which absorb solar
thermal energy and transfer it in the form of heat to a fluid; however, the problem is that solar energy
is not constant, and it is essential for industrial applications the delivery of a continuous thermal load
or constant temperature. In this paper, a mathematical model is developed to predict the collector’s
output temperature subject to timevarying, unknown solar irradiance, ambient temperature, and
wind speed.
10:00-10:20 ID 46 | A Method for Line Impedance Estimation in AC Microgrids, Jorge Tenorio and
José Míguel Ramírez Scarpetta.
Abstract: This work describes and evaluates by simulation a method of parametric estimation of the
line impedance that connects generators and loads to a common connection point in an AC microgrid.
The method uses voltage and current measurements made locally on the generator. Low estimation
error (less than 0.52%) and simplicity in the calculation are the contributions of this method.
10:20-10:40 ID 66 | Stability Analysis for a Grid-Forming Converter with Inverse Droop Connected
to an Infinite Bus, Alejandro Garcés Ruíz and Walter Julián Gil.
Abstract: Modern power systems require grid-forming converters to maintain the stability of the grid.
These converters are designed to emulate the transient behavior of the synchronous machines in
high-power applications. However, low-power applications present different dynamics, especially in
microgrids where the ratio r/x is high. Therefore, it is necessary to analyze a grid-forming converter
with inverse droops to guarantee stability in those applications. This paper studies the stability of
this type of device for a single converter connected to an infinite bus. The small-signal and transient
stability is analyzed under realistic assumptions. Numerical experiments complement the theoretical
analysis.
Thursday, October 21, 09:20-10:40 | Room Kalman
System Identification II
Chair: Wilber Acuña-Bravo, Universidad del Cauca, Colombia
46
9:20-9:40 ID 30 | Experimental Black-box System identification and control of a Torus Cassegrain
Telescope, Tatiana Manrique Espíndola and Xiomara Camacho Medina.
Abstract: The Astronomical Observatory of the Sergio Arboleda University (Bogotá, Colombia) has as
main instrument a Torus Classic Cassegrain telescope. In order to improve its precision and accuracy
in the tracking of celestial objects, the Torus telescope requires to be properly automated. The
motors, drivers and sensors of the telescope are modelled as a black-box system and experimentally
identified. Using the identified model several control laws are developed such as Proportional, Integral
and Derivative (PID) control and State-feedback control for the velocity and position tracking and
disturbance-rejection tasks.
9:40-10:00 ID 68 | Kalman Filter for Networked Control Systems Synchronized at Actuation In-
stants, Carlos Xavier Rosero, Cristina Vaca, Milton Gavilánez, Iván Iglesias, Luz Tobar
Subía and Ramiro Rosero.
Abstract: Traffic and latency in the communications network, as well as processing of the control
algorithms cause sampling-actuation variable delays (SAVDs) in networked control systems (NCSs).
Moreover, feedback control loops implemented via NCSs, may suffer degradation in control perfor-
mance and even become unstable due to SAVDs. To remove these negative effects on performance/
stability, a method based on strictly periodic actuations and aperiodic samplings has been featured
in the literature. In this approach, the states are measured at the sampling instant, the values that
these states will have at the actuation instant are then estimated, and subsequently, the control
action is calculated based on these estimates. This paper extends the above model to the case of
noisy samples and disturbed process by coupling a Kalman filter. Additionally, it is also solved the
problem of deciding instants and periods in which the predict and update phases of the Kalman filter
are applied. It has been obtained that the synchronized actuations eliminate the harmful effects of
SAVDs in NCSs. Moreover, the Kalman filter improves the performance under noisy measurements
and process disturbance.
10:00-10:20 ID 49 | Algebraic Identification Approach for Parameter Estimation in Permanent

Magnet Synchronous Motors, Leidy Campos Quesada, Yesid Briceño Isquierso, Juan
Alarcón Jaramillo and Horacio Coral-Enriquez.
Abstract: In this paper, the problem of electrical and mechanical parameter estimation in Permanent
Magnet Synchronous Motors (PMSMs) by means of the Algebraic Identification method is addressed.
A complete identification methodology is proposed in two stages: the first stage addresses the identifi-
cation of the electrical parameters, and the second stage tackles the identification of the mechanical
parameters. Both stages are assisted by a model-free observer to estimate the angular speed of the
PMSM. Three cases of simulation show that the algebraic identification method provides promising
results to identify the electrical and mechanical parameters of the PMSM from the measurement of
the currents id , iq and the angular position θ.
10:20-10:40 ID 51 | Contraction-based Controller for a MMC Based on Data-Driven Nonlinear

Identification with Noisy Data, Fabian Salazar-Caceres, Maximiliano Bueno Lopez
and Santiago Sanchez-Acevedo.
Abstract: The widespread application for a Modular Multilevel Converter (MMC) requires novel
47
approaches and developments where the complexity and drawbacks about their control, modeling and
analysis can be developed with recent directions. In this paper, we propose a novel approach in data-
driven nonlinear identification techniques inspired by Koopman operator theory, Sparse regression,
Regularization methods summarize by the socalled SINDy (Sparse Identification of Nonlinear Dynamics);
according to this methodology and under given conditions, the first part of this method, is to synthesize
a suitable approximation of the MMC nonlinear dynamics based on data, once these dynamics are
learnt a nonlinear control law is designed using a contraction theory framework showing stability
properties allowing system level studies over potentially large networks. In the first part of this paper,
we establish some prior work and main contributions, then mathematical basis about nonlinear
identification methods based on Koopman operator theory and Contraction theory for nonlinear
systems are established. Afterwards, we set the MMC dynamics for analysis and control and finally,
we implement a numerical simulation proving the claims and advantages of the study proposed.
Friday, October 22, 09:20-10:40 | Room Lyapunov
Applied Control III

Chair: Carlos Ocampo, Universidad Politécnica de Cataluña, Spain
9:20-9:40 ID 56 | Parametric Tuning of the DAIC via NLMS Algorithm with Fuzzy Adaptive Step
Size, Rodrigo Noronha.
Abstract: The relation between the convergence speed and the steady state MSE during the update
of the estimation of a weights vector by an optimization algorithm is a fundamental issue for a good
performance of adaptive filters. Thus, in the context of optimization algorithms based on stochastic
gradient descent, in this paper a new version of the NLMS algorithm is proposed, aiming to obtain a
good trade-off between the convergence speed and the steady state MSE. For this, the step size is
adapted by a Mamdani Fuzzy Inference System, as a function of the squared error and of the instant
of time normalized by the Min-Max method. For validation of the proposed algorithm, the Direct
Adaptive Inverse Control (DAIC) design was performed for application on a non-minimum phase plant
in the presence of a disturbance signal added to the control signal.
9:40-10:00 ID 57 | Design of a multivariable decoupling control system with IMC /PID controller,
Angela Villafañe and Luis Angel Silva.
Abstract: The interaction between variables is the main problem to control a multivariable system, the
decoupling of a 3x3 multivariable system is presented, implementing the direct decoupling methodol-
ogy, subsequently a PID controller designed using the IMC control strategy is applied.
10:00-10:20 ID 60 | Lyapunov Stability Analysis of a Two-Step Anaerobic Digestion Model, Maxi-

miliano Machado-Higuera, Nohora Meneses-Casas and Andres Hernandez.
Abstract: The use of renewable energy sources is a major concern nowadays, where efforts are made
to achieve higher efficiencies. Among the different possibilities, Biogas production from organic waste
represents an interesting technology. One difficulty arises as the system can be unstable under certain
conditions, being able to systematically understand these conditions could lead to efficient control
48
design. In this paper the stability analysis of an anaerobic biodigestor using the indirect method of
Lyapunov is presented using the model (AM2).
Friday, October 22, 09:20-10:40 | Room Laplace
Power electronics II
Chair: Diego Patiño, Pontificia Universidad Javeriana, Colombia
9:20-9:40 ID 9 | Temperature regulation by single-phase AC voltage controller using PID and MPC,
Diego F. Sendoya-Losada, Julian G. Ortiz-Trujillo and Christian M. Guevara-Puentes.
Abstract: In this work, two controllers, a Proportional Integral Derivative (PID) and a Model-based
Predictive Controller (MPC), have been designed to regulate the temperature of the air inside a closed
box. First, the mathematical model estimation for the system (a single-phase AC voltage controller and
an incandescent bulb) was performed using Matlab® software. Then the PID controller was designed
around a certain setpoint. Next, an algorithm was designed according to the Extended Prediction
Self-Adaptive Control (EPSAC). Finally, the performance of the controllers is evaluated for setpoint
tracking and disturbance rejection.
9:40-10:00 ID 62 | Implementation of the Particle Swarm Optimization MPPT algorithm in a Dual

Active Bridge Series-Resonant DC-DC Converter for Partial Shading Conditions, James
Arredondo Mamani, Marco Quispe Barra and Midwar Valencia Vilca.
Abstract: In this paper the implementation of the particle swarm optimization algorithm for the
maximum power point tracker (PSO MPPT) of a panel array, under partial shading is analyzed. Unlike
most studies where partial shading have been analyzed on the structure of the Buck and Boost
converter, this article implement the PSO MPPT in the Dual Active Bridge Series-Resonant (DABSR)
DC-DC converter. The analyzed converter has many advantages with the typical structures such as:
galvanic isolation, bidirectional power flow and high efficiency. The modulation and the control strategy
are presented. Since in partial shading the power delivered by the panels is decreased, two command
signals are used to power control transfer: the duty ratio (DR) and the phase shift angle (PSA). The
DR controls the PV voltage and the PSA the power flow respectively. In the PSO MPPT algorithm, the
swarm particles are the power references which has to transfer by the converter, and the maximum
power is the objective function that the swarm must reach. Simulation results using the PSIM software
validate the modulation and the control strategy for a 750W prototype.
10:00-10:20 ID 58 | Perturb and Observe MPPT with slope verification to achieve ZVS in a CLLC
resonant converter, Julián Escobar, Mario Andrés Bolaños-Navarrete, Juan David
Bastidas-Rodríguez and Gustavo Osorio.
Abstract: Micro-inverters have attracted the attention in photovoltaic (PV) systems because they
mitigate the effects of partial shading. A micro-inverter can be implemented with two-stages: DC-DC
step-up conversion and DC–AC conversion (inverter). Resonant converters present high potential for
the first stage due to their high voltage gain, efficiency, and switching frequency. These characteristics
allows a small footprint and low switching losses due to possibility of zero-voltage-switching (ZVS)
49
operation. The DC-DC converter typically performs the maximum power point tracking (MPPT) while
the DC-AC injects the power to the grid. This paper proposes a MPPT technique for a resonant CLLC
DC-DC converter to guarantee Zero Voltage Switching (ZVS). First, the resonant converter is analyzed
to determine the resistance observed by the PV panel and to determinate the frequency range which
the converter operates with ZVS. Then, a modified Perturb and Observe algorithm is proposed, by
performing perturbations in the DC-DC switching frequency. The proposed MPPT also verifies the
derivative of the converter input resistance regarding the frequency to ensure that the converter
operates in ZVS when the MPP is tracked. Finally, Matlab/Simulink simulations validate the proposed
MPPT technique with a resistive load and a nonlinear load (DC-AC connected to the grid). The results
show satisfactory performance, high steady-state efficiency, and good dynamic response.
10:20-10:40 ID 59 | Modeling and Control of a Single-Stage PV-Battery Autonomous Energy

System, Santiago Martinez-Clinger, Yeison Alejandro Aldana Rodriguez and Oswaldo
Lopez-Santos.
Abstract: This paper deals with modelling and control of a power autonomous energy device used
to automatize the gates of open channel irrigation systems. The conventional unidirectional boost
converter is controlled to interface a photovoltaic module with a battery array and the electrome-
chanical actuator of the gate, this allowing the eventual operation of the system in the absence of
solar irradiation. Based on a simplified control architecture, the system provides enough reliability
in the different operation scenarios. The work develops modelling of the proposed system in order
to deduce a single controller able to operate in the whole set of operation conditions of the system.
Simulation results regarding response to different disturbances confirms its correct operation.
Friday, October 22, 09:20-10:40 | Room Kalman
Distributed Control/Multiagent Systems

Chair: José Vuelvas, Pontificia Universidad Javeriana, Colombia
9:20-9:40 ID 18 | Distributed Assignment with Energy Constraints of a UAV fleet for Resource Dis-
tribution, Juan Sebastián González-Rojas, Juan Martinez-Piazuelo and Nicanor Quijano.
Abstract: This paper addresses the distributed resource allocation through unmanned aerial vehicles
(UAV) fleets in rural areas. In particular, we cast the resource distribution as an energy constrained
vehicle-target assignment problem, and we solve this problem with an iterative distributed graph algo-
rithm. Our proposed method allows an energy efficient assignment, satisfying UAV energy, load, and
communication constraints. Our proposed algorithm is characterized through numerical simulations
for various fleet sizes and area of operations (AO) partitions. Simulation results illustrate the proposed
method.
9:40-10:00 ID 20 | A Game-theoretical Method for Dynamic Agent-Zone Allocation Problems,

Alejandra Sandoval-Carranza, Juan Martinez-Piazuelo and Nicanor Quijano.
Abstract: This paper considers an agent-zone allocation problem as a multiplayer game. In particular,
each agent makes individual decisions, through the negotiation mechanism named generalized regret
50
monitoring with fading memory and inertia. Their goal is to optimize their own utility function (based
on carrying capacity), while they also optimize the global utility. Our proposed utility function considers
the occupation of each zone while making their decisions. We present a sensitivity analysis of the
parameters used in the negotiation mechanism and the utility function. Finally, we show simulation
results of three scenarios and their corresponding statistical analysis.
10:00-10:20 ID 39 | A Distributed Iterative LQR Approach for a Cart-Pole Network Synchronization,

Jhojan A. Rodriguez-Gil, Miguel F. Arevalo-Castiblanco, Duvan Tellez-Castro and
Eduardo Mojica-Nava.
Abstract: In this work, we propose a control strategy based on an iterative Linear Quadratic Regulator
(iLQR) to solve a synchronization problem for interconnected systems in a distributed leader-follower
context. This method is applied in a network of cart-pole agents where each of them is a nonlinear
system with 4-dimension states and one input, used in mechanical systems. The proposed method
solves an iLQR using its data and information from the neighborhood. A direct graph model for
the communication network is worked to validate the proposed strategy. Finally, we tested the
methodology in a numerical example with a homogeneous network where each agent reaches a
synchronization.
10:20-10:40 ID 52 | Data-Driven Synchronization of Coupled Heterogeneous Oscillators, Fabian

Salazar-Caceres, Duvan Tellez and Eduardo Mojica-Nava.
Abstract: The paper is about the synchronization of a class of oscillators with partially unknown
dynamics. We provide a decentralized version of the extended dynamic mode decomposition algorithm.
The decentralized formulation is made possible to identify the nonlinear unknown dynamics of each
oscillator and then a consensus protocol is implemented for achieving synchronization. We present
numerical simulation results to demonstrate the application of the developed methodology.
51
Controlavirus Challenge
In the framework of the fifth IEEE Colombian Conference on Automatic Control that will be held
remotely on October 19-22, 2021 virtually placed on Ibagué, a student competition will be held that
will award the best proposals that show applications of control theory focused on finding solutions
that help mitigate the global public health problem that was originated since 2019 with the emergence
of COVID19.
One of the tools that has been key to the definition of policies to mitigate the effects of COVID-19 in
different countries of the world, including Colombia, is the use of computer models that analyze the
dynamics of contagion and evaluate the different forms of intervention. The concept of feedback is
clear in this process of design and analysis. The Controlavirus Challenge competition is intended to
motivate undergraduate and graduate students to apply basic principles of control theory to design
intervention policies to mitigate the effects of COVID-19 on communities.
Structure of Competition
Anyone interested in participating in the Controlavirus Challenge should follow these steps:
Step 1: Register for the competition by September 17. The proposal should include one title, an abstract
of no more than 250 words and the names and institution to which the team members belong.
Step 2: Submit a video abstract and a document with an extended abstract by October 1, 2021.
Step 3: A notification will be sent on October 8, 2021 to the projects selected to be presented during
the conference. The selected projects should prepare a presentation of no more than 15 minutes
where they will show to conference attendees and a panel of juries their main findings.
Step 4: A public recognition will be given to the three best proposals during the closing ceremony of
the Conference, scheduled for October 22, 2021.
Evaluation Criteria
Each proposal will be evaluated by a jury panel and a ranking will be established according to the
following criteria:
• Originality (20 points)
• Technical content (20 points)
• Feasibility (20 points)
• Written document and video (quality and clarity) (30 points)
• Use of real databases (10 points)
52
Posters
As part of the conference, a special poster session has been organized, which will serve to socialize
the results of ongoing or completed research in the field of automatic control. The invitation to
participate is extended to master and doctoral students from any institution of higher education from
any country.
Applicants must prepare a summary video with a maximum duration of 5 min, presenting the obtained
results, as well as the details of the methodology used, and a discussion of the main contributions and
future work.
The poster session will take place on the third day of the conference, Thursday, October 21. From 8 am
(local time) the posters will be available, and all interested attendees can see them. At 2 pm., poster
authors will be available to answer questions in one special room.
53
Awards
The fifth IEEE Colombian Conference on Automatic Control will award in the following categories:
• Best Paper.
• Best video
• Best Poster
In addition, the Controlavirus Challenge has the following awards: The three best proposals will receive
the following awards:
• Public recognition during the closing ceremony of the Conference.
• Publication of the paper in the journal “Ingeniería de la Universidad Distrital Francisco José de
Caldas (Publindex B)” subject to the editorial conditions of the journal.
• Economic recognition as follows:
First place: COP$700,000
Second place: COP$650,000
Third place: COP$400,000
As a tradition of the IEEE CCAC, the Alain Gauthier prize will be awarded for outstanding contributions
in the consolidation of controls systems engineering, science, or technology in Colombia. The voting
was performed by Conference General chairs and former awardees
54
Partner Institutions and Sponsors
55

IEEECCAC2021 Booklet

Uploaded by

Document Information

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

IEEECCAC2021 Booklet

Uploaded by

Copyright:

Available Formats

Contents

Colombian Conference on Automatic Control - CCAC History 11

Partner Institutions and Sponsors 55

On this version of the conference ﬁve awards will be presented:

Diana Marcela Ovalle Martínez & Oswaldo López Santos

Oswaldo López Santos Diana Marcela Ovalle Martínez

Program Chair Publications Chair

Maximiliano Bueno López Luis Francisco Cómbita Alfonso

Finance Chair Registration Chair

Johanna Castellanos Arias José Reinaldo Vuelvas Quintana

Nicanor Quijano Silva Oscar Barrero Mendoza

International Committee Chair Publicity Chair

Luis Felipe Giraldo Harold Fabián Murcia Moreno

Virtual Plataform Chair Students Activities Chair

Juan Sebastián Roncancio Wilber Acuña Bravo

César Arturo Liliana Delgadillo Mirquez

Carolina Albea Sánchez Abdelali El Aroudi

Hernán Álvarez Jairo J Espinosa

Marco Alzate Liliana Fernández-Samacá

Juan Carlos Bedoya Freddy Flores

Giovanni Bermúdez Juan Carlos Galvis Manso

Edgar Bolívar Alejandro Garcés

Michael Bressan Alfredo Garcia

Juan Castano Germain Garcia

Jenny Alexandra Cifuentes Quintero Jorge Andrés García Vanegas

Gregory Conde Carlos Gaviria

Carlos Cotrino Eduardo Giraldo

Bart De Moor Irvin López García

Eduardo Mojica-Nava Diego Alejandro Patino Guevara

Oscar Danilo Montoya Giraldo Jorge Poveda

Diego A. Muñoz Carlos Restrepo

Duberney Murillo Fredy Ruiz

Gabriel Esteban Narvaez Morales Jorge Sofrony

German Obando Carlos Andrés Torres Pinzón

Carlos Ocampo César A. Uribe

R Orjuela Freddy Valderrama

The 2nd CCAC took place on October 14-16, 2015 in Man-

Figure 1: Email to access the Conference Platform.

Figure 2: Initial Platform view.

Access to talks and technical sessions

Figure 3: Access a session as attendee.

Figure 4: Access a session as a speaker.

If you are speaker on a Technical session

If you are chair on a Technical session

Networking (coﬀee breaks, lunches, etc)

Figure 6: Networking places.

Day 1: Tuesday, October 19

Day 1: Tuesday, October 19

Talk: Trust in Multi-Robot Systems and Achieving Resilient Coordination

Talk: Sliding Mode Controllers: Stages of Evolution

Talk: Least squares optimal realisation of autonomous LTI systems is an eigenvalue

Talk: Trajectory Optimization using the Projection Operator (PRONTO)

Day 3: Thursday, October 21

Talk: Control of a Class of Switched Systems

Day 3: Thursday, October 21

Talk: SLAM: Past, Present and Open Problems

Talk: Instrumentation and control of wastewater treatment plants: Objectives, chal-

Day 4: Friday, October 22

Workshop 1: Tuesday, October 19

Bio: He is an Assistant Professor in Computer Science and Engineering at Lehigh

Bio: She is an assistant professor of Electrical and Computer Engineering at

Bio: He is pursuing the Ph.D. degree in Electrical and Computer Engineering

Abstract: Distributed optimization algorithms have found wide applications in