Related papers: Non-Euclidean Contraction Theory for Robust Nonlin…
We investigate a motion of a colloid in a harmonic trap driven out of equilibrium by an external non-conservative force producing a torque in the presence of a uniform magnetic field. We find that steady state exists only for a proper range…
The key element of the approach to the theory of necessary conditions in optimal control discussed in the paper is reduction of the original constrained problem to unconstrained minimization with subsequent application of a suitable…
This paper explores the exponential stability of two nonlinear wave equations coupled through their velocities. The analysis is divided into two main cases. First, we consider a system where one equation is damped, while the other…
Robustness of deep neural networks against adversarial perturbations is a pressing concern motivated by recent findings showing the pervasive nature of such vulnerabilities. One method of characterizing the robustness of a neural network…
We develop a contraction-based framework to establish the existence and exponential stability of periodic solutions in planar nonsmooth dynamical systems governed by Filippov differential inclusions. The method integrates a time- and…
We investigate the universal linear inequalities that hold for the von Neumann entropies in a multi-party system, prepared in a stabiliser state. We demonstrate here that entropy vectors for stabiliser states satisfy, in addition to the…
This paper deals with necessary and sufficient conditions for weak and strong minimizers of functionals $\Phi(u)=\int_a^b f(x,u(x),u'(x))\,dx$, where $u\in C^1([a,b],{\mathbb R}^N)$. We first derive conditions which are simpler than the…
We develop a finite-dimensional sensitivity framework for studying stability in learning systems whose states include representations, parameters, and update variables. The central object is the \emph{Learning Stability Profile}, a…
This paper aims to provide various applications for second-order variational analysis of extended-real-valued piecewise liner functions recently obtained in [1]. We mainly focus here on establishing relationships between full stability of…
We study the existence and long-time asymptotics of weak solutions to a system of two nonlinear drift-diffusion equations that has a gradient flow structure in the Wasserstein distance. The two equations are coupled through a…
One of the least studied universal deformations of incompressible nonlinear elasticity, namely the straightening of a sector of a circular cylinder into a rectangular block, is revisited here and, in particular, issues of existence and…
This paper studies the design of neural network (NN)-based controllers for unknown nonlinear systems, using contraction analysis. A Neural Ordinary Differential Equation (NODE) system is constructed by approximating the unknown draft…
The rigidity matrix is a fundamental tool for studying the infinitesimal rigidity properties of Euclidean bar-joint frameworks. In this paper we generalize this tool and introduce a rigidity matrix for bar-joint frameworks in arbitrary…
We propose a novel framework for learning stabilizable nonlinear dynamical systems for continuous control tasks in robotics. The key contribution is a control-theoretic regularizer for dynamics fitting rooted in the notion of…
Control design for general nonlinear robotic systems with guaranteed stability and/or safety in the presence of model uncertainties is a challenging problem. Recent efforts attempt to learn a controller and a certificate (e.g., a Lyapunov…
We propose a theoretical approach to derive amplitude equations governing the weakly nonlinear evolution of nonnormal dynamical systems when they experience transient growth or respond to harmonic forcing. This approach reconciles the…
Asymptotic stationarity and regularity conditions turned out to be quite useful to study the qualitative properties of numerical solution methods for standard nonlinear and complementarity-constrained programs. In this paper, we first…
We prove decoupling inequalities for random polynomials in independent random variables with coefficients in vector space. We use various means of comparison, including rearrangement invariant norms (e.g., Orlicz and Lorentz norms), tail…
For deterministic continuous time nonlinear control systems, epsilon-practical stabilization entropy and practical stabilization entropy are introduced. Here the rate of attraction is specified by a KL-function. Upper and lower bounds for…
It is well-known that the classical PID controller is by far the most widely used ones in industrial processes, despite of the remarkable progresses of the modern control theory over the past half a century. It is also true that the…