Koopman-based feedback design with stability guarantees
Abstract
We present a method to design a state-feedback controller ensuring exponential stability for nonlinear systems using only measurement data. Our approach relies on Koopman-operator theory and uses robust control to explicitly account for approximation errors due to finitely many data samples. To simplify practical usage across various applications, we provide a tutorial-style exposition of the feedback design and its stability guarantees for single-input systems. Moreover, we extend this controller design to multi-input systems and more flexible nonlinear state-feedback controllers using gain-scheduling techniques to increase the guaranteed region of attraction. As the proposed controller design is framed as a semidefinite program, it allows for an efficient solution. Further, we enhance the geometry of the region of attraction through a heuristic algorithm that establishes a connection between the employed Koopman lifting and the dynamics of the system. Finally, we validate the proposed feedback design procedure by means of numerical examples.
Keywords
Cite
@article{arxiv.2312.01441,
title = {Koopman-based feedback design with stability guarantees},
author = {Robin Strässer and Manuel Schaller and Karl Worthmann and Julian Berberich and Frank Allgöwer},
journal= {arXiv preprint arXiv:2312.01441},
year = {2025}
}