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We develop a predictor-feedback control design for multi-input nonlinear systems with distinct input delays, of arbitrary length, in each individual input channel. Due to the fact that different input signals reach the plant at different…
The aim of this paper is to explore the relationship between invariant cones and nonlinear normal modes in piecewise linear mechanical systems. As a key result, we extend the invariant cone concept, originally established for homogeneous…
This paper deals with the output regulation problem of a linear time-invariant system in the presence of sporadically available measurement streams. A regulator with a continuous intersample injection term is proposed, where the intersample…
This paper studies switching stabilization problems for continuous-time switched linear systems. We consider four types of switching stabilizability defined under different assumptions on the switching control input. The most general…
In this paper we first study the fixed-time stabilizability of discrete-time switched linear control systems. Using a geometric approach, we derive conditions under which such systems can be stabilized within a prescribed number of steps,…
This paper presents a new method for automatically generating numerical invariants for imperative programs. Given a program, our procedure computes a binary input/output relation on program states which over-approximates the behaviour of…
This paper focuses on formally verifying invariant properties of control programs both at the model and code levels. The physical process is described by an uncertain discrete-time state-space system, where the dependence of the state-space…
Essential tasks for the verification of probabilistic programs include bounding expected outcomes and proving termination in finite expected runtime. We contribute a simple yet effective inductive synthesis approach for proving such…
A novel control method is proposed to ensure compatibility of safe, stabilizing control laws, i.e., simultaneous satisfaction of asymptotic stability and constraint satisfaction for nonlinear affine systems. The results are dependent on an…
Programs that process data that reside in files are widely used in varied domains, such as banking, healthcare, and web-traffic analysis. Precise static analysis of these programs in the context of software verification and transformation…
In this paper, we consider the problem of piecewise affine abstraction of nonlinear systems, i.e., the overapproximation of its nonlinear dynamics by a pair of piecewise affine functions that "includes" the dynamical characteristics of the…
Stabilization of linear systems with unknown dynamics is a canonical problem in adaptive control. Since the lack of knowledge of system parameters can cause it to become destabilized, an adaptive stabilization procedure is needed prior to…
We consider parameterized concurrent systems consisting of a finite but unknown number of components, obtained by replicating a given set of finite state automata. Components communicate by executing atomic interactions whose participants…
A new framework for adaptive regulation to invariant sets is proposed. Reaching the target dynamics (invariant set) is to be ensured by state feedback while adaptation to parametric uncertainties is provided by additional adaptation…
In this paper, we present a control synthesis framework for a general class of nonlinear, control-affine systems under spatiotemporal and input constraints. First, we study the problem of fixed-time convergence in the presence of input…
We study the problem of synthesizing non-smooth control barrier functions (CBFs) for continuous-time switched affine systems. Switched affine systems are defined by a set of affine dynamical modes, wherein the control consists of a…
Measures generated by Iterated Function Systems composed of uncountably many one--dimensional affine maps are studied. We present numerical techniques as well as rigorous results that establish whether these measures are absolutely or…
In this work, we present a compositional safety controller synthesis approach for the class of discrete-time linear control systems. Here, we leverage a state-of-the-art result on the computation of robust controlled invariant sets. To…
This paper focuses on the mathematical approaches to the analysis of stability that is a crucial step in the design of dynamical systems. Three methods are presented, namely, absolutely integrable impulse response, Fourier integral, and…
Invariants are a set of properties over program attributes that are expected to be true during the execution of a program. Since developing those invariants manually can be costly and challenging, there are a myriad of approaches that…