Related papers: Counter-example guided inductive synthesis of cont…
This paper studies the problem of constructing control Lyapunov functions (CLFs) and feedback stabilization strategies for deterministic nonlinear control systems described by ordinary differential equations. Many numerical methods for…
Lyapunov redesign is a classical technique that uses a nominal control and its corresponding nominal Lyapunov function to design a discontinuous control, such that it compensates the uncertainties and disturbances. In this paper, the idea…
In this technical note, we generalize the well-known Lyapunov-based stabilizability and detectability tests for linear time-invariant (LTI) systems to the context of discrete-time (DT) polytopic linear parameter-varying (LPV) systems. To do…
We offer a compositional data-driven scheme for synthesizing controllers that ensure global asymptotic stability (GAS) across large-scale interconnected networks, characterized by unknown mathematical models. In light of each network's…
This paper tackles state feedback control of switched linear systems under arbitrary switching. We propose a data-driven control framework that allows to compute a stabilizing state feedback using only a finite set of observations of…
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…
In this paper, a novel online, output-feedback, critic-only, model-based reinforcement learning framework is developed for safety-critical control systems operating in complex environments. The developed framework ensures system stability…
This paper presents the cyber-physcial model of a computer-mediated control system that is a seamless, fully synergistic integration of the physical system and the cyber system, which provides a systematic framework for synthesis of…
In this paper, a method is presented to synthesize neural network controllers such that the feedback system of plant and controller is dissipative, certifying performance requirements such as L2 gain bounds. The class of plants considered…
We present a sound and automated approach to synthesize safe digital feedback controllers for physical plants represented as linear, time invariant models. Models are given as dynamical equations with inputs, evolving over a continuous…
The paper proposes a control-theoretic framework for verification of numerical software systems, and puts forward software verification as an important application of control and systems theory. The idea is to transfer Lyapunov functions…
For mechanical systems we present a controller able to track an unknown smooth signal, converging in finite time and by means of a continuous control signal. The control scheme is insensitive against unknown perturbations with bounded…
By computing Lyapunov functions of a certain, convenient structure, Lyapunov-based methods guarantee stability properties of the system or, when performing synthesis, of the relevant closed-loop or error dynamics. In doing so, they provide…
We present a method for synthesizing controllers to steer trajectories from an initial set to a target set on a finite time horizon. The proposed control synthesis problem is decomposed into two steps. The first step under-approximates the…
The feedback linearization method is further developed for the controller design on general nonlinear systems. Through the Lyapunov stability theory, the intractable nonlinear implicit algebraic control equations are effectively solved, and…
In this paper, we consider a control synthesis problem for a class of polynomial dynamical systems subject to bounded disturbances and with input constraints. More precisely, we aim at synthesizing at the same time a controller and an…
Constraint admissible positively invariant (CAPI) sets play a pivotal role in ensuring safety in control and planning applications, such as the recursive feasibility guarantee of explicit reference governor and model predictive control.…
In syntax-guided synthesis (SyGuS), a synthesizer's goal is to automatically generate a program belonging to a grammar of possible implementations that meets a logical specification. We investigate a common limitation across…
This work primarily focuses on synthesizing a controller that guarantees an unknown continuous-time system to be incrementally input-to-state stable ($\delta$-ISS). In this context, the notion of $\delta$-ISS control Lyapunov function…
This paper develops a neural network based control framework that ensures system safety and input-to-state stability (ISS) for general nonlinear switched systems with unknown dynamics. Leveraging the concept of dwell time, we derive…