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The Time-Invariant Incremental Knapsack problem (IIK) is a generalization of Maximum Knapsack to a discrete multi-period setting. At each time, capacity increases and items can be added, but not removed from the knapsack. The goal is to…
This paper presents a robust control synthesis and analysis framework for nonlinear systems with uncertain initial conditions. First, a deep learning-based lifting approach is proposed to approximate nonlinear dynamical systems with linear…
This work addresses the problem of risk-sensitive control for nonlinear systems with imperfect state observations, extending results for the linear case. In particular, we derive an algorithm that can compute local solutions with…
We consider a linear time-invariant system in discrete time where the state and input signals satisfy a set of integral quadratic constraints (IQCs). Analogous to the autonomous linear systems case, we define a new notion of spectral radius…
Model predictive control (MPC) schemes are commonly designed with fixed, i.e., time-invariant, horizon length and cost functions. If no stabilizing terminal ingredients are used, stability can be guaranteed via a sufficiently long horizon.…
We propose a simple and computationally efficient approach for designing a robust Model Predictive Controller (MPC) for constrained uncertain linear systems. The uncertainty is modeled as an additive disturbance and an additive error on the…
This paper presents several results on performance analysis for a class of uncertain linear quantum systems subject to either quadratic or non-quadratic perturbations in the system Hamiltonian. Also, coherent guaranteed cost controllers are…
We present a novel dual control strategy for uncertain linear systems based on targeted harmonic exploration and gain-scheduling with performance and excitation guarantees. In the proposed sequential approach, robust control is implemented…
A finite horizon optimal tracking problem is considered for linear dynamical systems subject to parametric uncertainties in the state-space matrices and exogenous disturbances. A suboptimal solution is proposed using a model predictive…
This work investigates robust monotonic convergent iterative learning control (ILC) for uncertain linear systems in both time and frequency domains, and the ILC algorithm optimizing the convergence speed in terms of $l_{2}$ norm of error…
This paper presents a PAC-Bayes framework for learning controllers for unknown stochastic linear discrete-time systems, where the system parameters are drawn from a fixed but unknown distribution. We derive a data-dependent high probability…
We consider classical estimators for a class of physically realizable linear quantum systems. Optimal estimation using a complex Kalman filter for this problem has been previously explored. Here, we study robust $H_\infty$ estimation for…
In robust combinatorial optimization, we would like to find a solution that performs well under all realizations of an uncertainty set of possible parameter values. How we model this uncertainty set has a decisive influence on the…
We consider the safety evaluation of discrete time, stochastic systems over a finite horizon. Therefore, we discuss and link probabilistic invariance with reachability as well as reach-avoid problems. We show how to efficiently compute…
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…
In this paper, we address the problem of computing the maximal admissible robust positive invariant (MARPI) set for discrete-time linear time-varying systems with parametric uncertainties and additive disturbances. The system state and…
This paper presents adaptive robust quadratic program (QP) based control using control Lyapunov and barrier functions for nonlinear systems subject to time-varying and state-dependent uncertainties. An adaptive estimation law is proposed to…
Constrained reinforcement learning is to maximize the expected reward subject to constraints on utilities/costs. However, the training environment may not be the same as the test one, due to, e.g., modeling error, adversarial attack,…
This paper extends applications of the quantum small gain and Popov methods from existing results on robust stability to performance analysis results for a class of uncertain quantum systems. This class of systems involves a nominal linear…
This paper concerns the problem of learning control policies for an unknown linear dynamical system to minimize a quadratic cost function. We present a method, based on convex optimization, that accomplishes this task robustly: i.e., we…