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We present a novel approach to control design for nonlinear systems which leverages model-free policy optimization techniques to learn a linearizing controller for a physical plant with unknown dynamics. Feedback linearization is a…
In this paper, we directly design a state feedback controller that stabilizes a class of uncertain nonlinear systems solely based on input-state data collected from a finite-length experiment. Necessary and sufficient conditions are derived…
This paper is concerned with the design of optimal control for finite-dimensional control-affine nonlinear dynamical systems. We introduce an optimal control problem that specifically optimizes nonlinear observability in addition to…
In the context of linear inverse problems, we propose and study a general iterative regularization method allowing to consider large classes of regularizers and data-fit terms. The algorithm we propose is based on a primal-dual diagonal…
A novel method for control of dynamical systems, proposed in the paper, ensures an output signal belonging to the given set at any time. The method is based on a special change of coordinates such that the initial problem with given…
The predicted reduced resiliency of next-generation high performance computers means that it will become necessary to take into account the effects of randomly occurring faults on numerical methods. Further, in the event of a hard fault…
A method of stabilizing 2-cycles in discrete dynamic systems by Delayed Feedback Control is developed by using classic Harmonic Analysis.
Despite ongoing research, testing the flatness of discrete-time systems remains a challenging problem. To date, only the property of forward-flatness - a special case of difference-flatness - can be checked in a computationally efficient…
Computing at the exascale level is expected to be affected by a significantly higher rate of faults, due to increased component counts as well as power considerations. Therefore, current day numerical algorithms need to be reexamined as to…
This paper is about output-feedback control problems for general linear systems in the presence of given state-, control-, disturbance-, and measurement error constraints. Because the traditional separation theorem in stochastic control is…
We construct two error feedback controllers for robust output tracking and disturbance rejection of a regular linear system with nonsmooth reference and disturbance signals. We show that for sufficiently smooth signals the output converges…
We introduce two new tools that can be useful in nonlinear observer and output feedback design. The first one is a simple extension of the notion of homogeneous approximation to make it valid both at the origin and at infinity (homogeneity…
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…
This paper extends our previous study on an explicit saturated control for a quadcopter, which ensures both constraint satisfaction and stability thanks to the linear representation of the system in the flat output space. The novelty here…
A central question in verification is characterizing when a system has invariants of a certain form, and then synthesizing them. We say a system has a $k$ linear invariant, $k$-LI in short, if it has a conjunction of $k$ linear (non-strict)…
Data-driven control strategies for dynamical systems with unknown parameters are popular in theory and applications. An essential problem is to prevent stochastic linear systems becoming destabilized, due to the uncertainty of the…
We consider the one dimensional Schr\"odinger equation with a bilinear control and prove the rapid stabilization of the linearized equation around the ground state. The feedback law ensuring the rapid stabilization is obtained using a…
This paper addresses the problem of checking invariant properties for a large class of symbolic transition systems, defined by a combination of SMT theories and quantifiers. State variables can be functions from an uninterpreted sort…
We prove that given two cut free nets of linear logic, by means of their relational interpretations one can: 1) first determine whether or not the net obtained by cutting the two nets is strongly normalizable 2) then (in case it is strongly…
The paper introduces a novel algorithm for computing the output admissible set of linear discrete-time systems subject to input saturation. The proposed method takes advantage of the piecewise-affine dynamics to propagate the output…