Related papers: The Controller Generated from Noise Can Be Lyapunu…
Robust controller synthesis attracts reviving research interest, driven by the rise of learning-based systems where uncertainty and perturbation are ubiquitous. Facing an uncertain situation, a robustly stabilizing controller should…
We introduce a method for learning provably stable deep neural network based dynamic models from observed data. Specifically, we consider discrete-time stochastic dynamic models, as they are of particular interest in practical applications…
In this paper, a novel robust tracking control law is proposed for constrained robots under unknown stiffness environment. The stability and the robustness of the controller are proved using a Lyapunov-based approach where the relationship…
This letter proposes a convolutional neural network (CNN)-based adaptive controller wtih three notable features: 1) it determines control input directly from historical sensor data (in an end-to-end process); 2) it learns the desired…
We construct a generic, simple, and efficient scheduling policy for stochastic processing networks, and provide a general framework to establish its stability. Our policy is randomized and prioritized: with high probability it prioritizes…
In this work, we propose novel LMI-based controller synthesis frameworks for periodically time-varying Markov-jump linear systems. We first discuss the necessary conditions for mean square stability and derive Lyapunov-like conditions for…
We continue the work started in Part I of this article, showing how the addition of noise can stabilize an otherwise unstable system. The analysis makes use of nearly optimal Lyapunov functions. In this continuation, we remove the main…
This paper addresses to Sliding Mode Learning Control (SMLC) of uncertain nonlinear systems with Lyapunov stability analysis. In the control scheme, a conventional control term is used to provide the system stability in compact space while…
A control software verification framework for gas turbine engines is developed. A stability proof is presented for gain scheduled closed-loop engine system based on global linearization and linear matrix inequality (LMI) techniques. Using…
We are interested in the control of forming processes for nonlinear material models. To develop an online control we derive a novel feedback law and prove a stabilization result. The derivation of the feedback control law is based on a…
In this article, two types of methods from different perspectives based on spectral normalization are described for ensuring the stability of the system controlled by a neural network. The first one is that the L2 gain of the feedback…
This work proposes a new a framework for determining robust periodic invariant sets and their associated control laws for constrained uncertain linear systems. Necessary and sufficient conditions for stabilizability by periodic controllers…
Stability and control of a non-linear system represent an important system configuration that frequently arises in practical engineering. Stability covers a vast range of systems that do not obey the superposition principle and applies to…
In this paper we consider the problem of global asymptotic stabilization with prescribed local behavior. We show that this problem can be formulated in terms of control Lyapunov functions. Moreover, we show that if the local control law has…
Control barrier function (CBF)-based safety filters provide a systematic way to enforce state constraints, but they can significantly alter the closed-loop dynamics induced by a nominal, stabilizing controller. In particular, the resulting…
Learning stabilizing controllers from data is an important task in engineering applications; however, collecting informative data is challenging because unstable systems often lead to rapidly growing or erratic trajectories. In this work,…
This paper presents necessary and sufficient characterizations of several notions of input to output stability. Similar Lyapunov characterizations have been found to play a key role in the analysis of the input to state stability property,…
Establishing stability certificates for closed-loop systems under reinforcement learning (RL) policies is essential to move beyond empirical performance and offer guarantees of system behavior. Classical Lyapunov methods require a strict…
This paper is concerned with the stability analysis of continuous-time switched systems with a random switching signal. The switching signal manifests its characteristics with that the dwell time in each subsystem consists of a fixed part…
We describe a particular control method for a system controlled by several actuators with the same control constants. We show under certain assumptions that the control constants for the whole system can be obtained immediately from the…