RESUMEN
We develop a framework to design optimal entrainment signals that entrain an ensemble of heterogeneous nonlinear oscillators, described by phase models, at desired phases. We explicitly take into account heterogeneity in both oscillation frequency and the type of oscillators characterized by different Phase Response Curves. The central idea is to leverage the Fourier series representation of periodic functions to decode a phase-selective entrainment task into a quadratic program. We demonstrate our approach using a variety of phase models, where we entrain the oscillators into distinct phase patterns. Also, we show how the generalizability gained from our formulation enables us to meet a wide range of design objectives and constraints, such as minimum-power, fast entrainment, and charge-balanced controls.