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We present a framework for learning of modeling uncertainties in Linear Time Invariant (LTI) systems. We propose a methodology to extend the dynamics of an LTI (without uncertainty) with an uncertainty model, based on measured data, to…
In this report, we aim at the development of an online abstraction framework for multi-agent systems under coupled constraints. The motion capabilities of each agent are abstracted through a finite state transition system in order to…
We present an approach to approximate reachable sets for linear systems with bounded L-infinity controls in finite time. Our first approach investigates the boundaries of these sets and reveals an exact characterization for single-input,…
Automated synthesis of reactive control protocols from temporal logic specifications has recently attracted considerable attention in various applications in, for example, robotic motion planning, network management, and hardware design. An…
We revisit the problem of computing (robust) controlled invariant sets for discrete-time linear systems. Departing from previous approaches, we consider implicit, rather than explicit, representations for controlled invariant sets.…
The dissipativity framework is widely used to analyze stability and performance of nonlinear systems. By embedding nonlinear systems in an LPV representation, the convex tools of the LPV framework can be applied to nonlinear systems for…
Lightweight Temporal Compression (LTC) is among the lossy stream compression methods that provide the highest compression rate for the lowest CPU and memory consumption. As such, it is well suited to compress data streams in…
We present abstraction-refinement algorithms for model checking safety properties of timed automata. The abstraction domain we consider abstracts away zones by restricting the set of clock constraints that can be used to define them, while…
We consider the problem of proving that each point in a given set of states ("target set") can indeed be reached by a given nondeterministic continuous-time dynamical system from some initial state. We consider this problem for abstract…
We propose an efficient symbolic control synthesis algorithm for equivariant continuous-time dynamical systems to satisfy reach-avoid specifications. The algorithm exploits dynamical symmetries to construct lean abstractions to avoid…
Discrete abstractions of continuous and hybrid systems have recently been the topic of great interest from both the control systems and the computer science communities, because they provide a sound mathematical framework for analysing and…
This paper presents a novel algorithm for reachability analysis of nonlinear discrete-time systems. The proposed method combines constrained zonotopes (CZs) with polyhedral relaxations of factorable representations of nonlinear functions to…
We present a method to over-approximate reachable tubes over compact time-intervals, for linear continuous-time, time-varying control systems whose initial states and inputs are subject to compact convex uncertainty. The method uses…
This paper explores the observability and estimation capability of dynamical systems using predominantly relative measurements of the system's state-space variables, with minimal to no reliance on absolute measurements of these variables.…
This article focuses on the development of functional unknown input observers for systems with arbitrary relative degree. Two distinct approaches are presented to address this challenge. The first approach is tailored to a class of…
In this paper, we address the problem of computing the maximal admissible robust positive invariant (MARPI) set for discrete-time linear time-varying systems with parametric uncertainties and additive disturbances. The system state and…
In this paper we present a method for designing a linear time invariant (LTI) state-feedback controller to monotonically track a constant step reference at any desired rate of convergence for any initial condition. Necessary and sufficient…
Exponentially stable extended adaptive observer is proposed for a class of linear time-invariant systems with unknown parameters and overparameterization. It allows one to reconstruct unmeasured states and bounded external disturbance…
This paper deals with the control synthesis problem for a continuous nonlinear dynamical system under a Linear Temporal Logic (LTL) formula. The proposed solution is a top-down hierarchical decomposition of the control problem involving…
We consider the modeling, stability analysis and controller design problems for discrete-time LTI systems with state feedback, when the actuation signal is subject to switching propagation delays, due to e.g. the routing in a multi-hop…