Related papers: Small-Gain Theorem for Safety Verification under H…
In this paper, we address the distributed prescribed-time convex optimization (DPTCO) for a class of networked Euler-Lagrange systems under undirected connected graphs. By utilizing position-dependent measured gradient value of local…
The usual passivity theorem considers a closed-loop, the direct chain of which consists of a strictly passive stable operator $H_{1}$, and the feedback chain of which consists of a passive operator $H_{2}$. Then the closed-loop is stable.…
This thesis proposes novel Small-Signal Stability Analysis (SSSA)-based techniques that contribute to electric power system modal analysis, automatic control, and numerical integration. Modal analysis is a fundamental tool for power system…
Digital controller design for nonlinear systems may be complicated by the fact that an exact discrete-time plant model is not known. One existing approach employs approximate discrete-time models for stability analysis and control design,…
Control Barrier Functions (CBFs) and Control Lyapunov Functions (CLFs) are popular tools for enforcing safety and stability of a controlled system, respectively. They are commonly utilized to build constraints that can be incorporated in a…
When the state of a system may remain bounded even if both the input amplitude and energy are unbounded, then the state bounds given by the standard input-to-state stability (ISS) and integral-ISS (iISS) properties may provide no useful…
Control applications present hard operational constraints. A violation of these can result in unsafe behavior. This paper introduces Safe Interactive Model Based Learning (SiMBL), a framework to refine an existing controller and a system…
As autonomous systems become more ubiquitous in daily life, ensuring high performance with guaranteed safety is crucial. However, safety and performance could be competing objectives, which makes their co-optimization difficult.…
We present Assignably Safe Extremum Seeking (ASfES), an algorithm designed to minimize a measured objective function while maintaining a measured metric of safety (a control barrier function or CBF) be positive in a practical sense. We…
This paper presents a decentralized frequency-domain framework to characterize the influence of the operating point on the small-signal stability of converter-dominated power systems. The approach builds on Scaled Relative Graph (SRG)…
The barrier function method for safety control typically assumes the availability of full state information. Unfortunately, in many scenarios involving uncertain dynamical systems, full state information is often unavailable. In this paper,…
This paper is concerned with the robustness of discrete-time Markov jump linear systems (MJLSs) with the Markov chain on a Borel space. For this general class of MJLSs, a small gain theorem is first established and subsequently applied to…
This work aims to synthesize a controller that ensures that an unknown discrete-time system is incrementally input-to-state stable ($\delta$-ISS). In this work, we introduce the notion of $\delta$-ISS control Lyapunov function…
While control barrier functions (CBFs) are employed in addressing safety, control synthesis methods based on them generally rely on accurate system dynamics. This is a critical limitation, since the dynamics of complex systems are often not…
Assessing small-signal stability of power systems composed of thousands of interacting generators is a computationally challenging task. To reduce the computational burden, this paper introduces a novel condition to assess and certify…
The safety mechanisms of large language models (LLMs) exhibit notable fragility, as even fine-tuning on datasets without harmful content may still undermine their safety capabilities. Meanwhile, existing safety alignment methods…
This article investigates the robustness of gradient descent algorithms under perturbations. The concept of small-disturbance input-to-state stability (ISS) for discrete-time nonlinear dynamical systems is introduced, along with its…
This article introduces the Pareto Control Barrier Function (PCBF) algorithm to maximize the inner safe set of dynamical systems under input constraints. Traditional Control Barrier Functions (CBFs) ensure safety by maintaining system…
This work provides an example that motivates and illustrates theoretical results related to a combination of small-gain and density propagation conditions. Namely, in case the small-gain fails to hold at certain points or intervals the…
Ensuring the safety of control systems often requires the satisfaction of constraints on states (such as position or velocity), control inputs (such as force), and a mixture of states and inputs (such as power that depends on both velocity…