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A method is proposed to compute robust inner-approximations to the backward reachable set for uncertain nonlinear systems. It also produces a robust control law that drives trajectories starting in these sets to the target set. The method…
This work provides a framework to compute an upper bound on the robust peak-to-peak gain of discrete-time uncertain linear systems using integral quadratic constraints (IQCs). Such bounds are of particular interest in the computation of…
Convergent, contractive or incremental stability properties of nonlinear systems have attracted interest for control tasks such as observer design, output regulation and synchronization. The convergence property plays a central role in the…
We derive converse Lyapunov theorems for input-to-state stability (ISS) of linear infinite-dimensional analytic systems. We show that input-to-state stability of a linear system does not imply existence of a coercive quadratic ISS Lyapunov…
An input-output model for networks with link uncertainty is developed. The main result presents a set of integral quadratic constraints (IQCs) that collectively imply robust stability of the uncertain network dynamics. The model dependency…
This paper develops a robust control synthesis method for uncertain linear systems with input saturation in the framework of integral quadratic constraints (IQCs). The system is reformulated as a linear fractional representation (LFR) that…
This paper proposes new quadratic constraints (QCs) to bound a quadratic polynomial. Such QCs can be used in dissipation ineqaulities to analyze the stability and performance of nonlinear systems with quadratic vector fields. The proposed…
Due to their relevance in systems analysis and (robust) controller design, we consider the problem of determining control-theoretic system properties of an a priori unknown system from data only. More specifically, we introduce a necessary…
In this work, we propose a tube-based MPC scheme for state- and input-constrained linear systems subject to dynamic uncertainties characterized by dynamic integral quadratic constraints (IQCs). In particular, we extend the framework of…
We present a new approach to verifying contraction and $L_2$-gain of uncertain nonlinear systems, extending the well-known method of integral quadratic constraints. The uncertain system consists of a feedback interconnection of a nonlinear…
In this paper, we consider integral linear constraints and the dissipation inequality with linear supply rates for certain sets of trajectories confined pointwise in time to a convex cone which belongs to a finite-dimensional normed vector…
This paper provides a link between time-domain and frequency-domain stability results in the literature. Specifically, we focus on the comparison between stability results for a feedback interconnection of two nonlinear systems stated in…
The Inverse Optimal Control (IOC) problem is a structured system identification problem that aims to identify the underlying objective function based on observed optimal trajectories. This provides a data-driven way to model experts'…
We study cooperative control dynamics with gradient based forcing terms. As a specific example, we focus on source-seeking dynamics with vehicles embedded in an unknown scalar field with a subset of agents having gradient information. As…
Given two nonlinear systems which only violate incremental passivity when their incremental gains are sufficiently small, we give a condition for their negative feedback interconnection to have finite incremental gain, which generalizes the…
It is known that the stability of a feedback interconnection of two linear time-invariant systems implies that the graphs of the open-loop systems are quadratically separated. This separation is defined by an object known as the multiplier.…
A necessary and sufficient condition, expressed simply as the DC loop gain (ie the loop gain at zero frequency) being less than unity, is given in this paper to guarantee the internal stability of a feedback interconnection of Linear…
The goal of this paper is to assess the robustness of an uncertain linear time-varying (LTV) system on a finite time horizon. The uncertain system is modeled as a connection of a known LTV system and a perturbation. The input/output…
Quadratic constraints (QCs) are widely used to characterize nonlinearities and uncertainties, but generic analytical characterizations can be conservative on bounded domains. This paper develops a framework for constructing verified…
In this paper, the problem of finite horizon inverse optimal control (IOC) is investigated, where the quadratic cost function of a dynamic process is required to be recovered based on the observation of optimal control sequences. We propose…