Related papers: Computing Controlled Invariant Sets of Nonlinear C…

This paper considers the problem of controlled invariance of involutive regular distribution, both for smooth and real analytic cases. After a review of some existing work, a precise formulation of the problem of local and global controlled…

This paper addresses the numerical optimization of proportional-integral-derivative (PID) controllers for linear time-invariant systems with delays, where the derivative action is implemented using a low-pass filter. While performance…

This paper proposes a finitely terminating algorithm to solve reach-and-stay control problems for nonlinear systems. The algorithm is guaranteed to return a control strategy if the specification is robustly realizable. Such a feature is…

The goal of this paper is to provide exact and terminating algorithms for the formal analysis of deterministic continuous-time control systems with affine input and polynomial state dynamics (in short, polynomial systems). We consider the…

In this paper, we propose an approach to controller synthesis for a class of constrained nonlinear systems. It is based on the use of a hybridization, that is a hybrid abstraction of the nonlinear dynamics. This abstraction is defined on a…

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…

Learning to perform perfect tracking tasks based on measurement data is desirable in the controller design of systems operating repetitively. This motivates the present paper to seek an optimization-based design approach for iterative…

Safety Index Synthesis (SIS) is critical for deriving safe control laws. Recent works propose to synthesize a safety index (SI) via nonlinear programming and derive a safe control law such that the system 1) achieves forward invariant (FI)…

The strategy used to develop the NIF Integrated Computer Control System (ICCS) calls for incremental cycles of construction and formal test to deliver a total of 1 million lines of code. Each incremental release takes four to six months to…

Many correct-by-construction control synthesis methods suffer from the curse of dimensionality. Motivated by this challenge, we seek to reduce a correct-by-construction control synthesis problem to subproblems of more modest dimension. As a…

Despite significant progress in text-to-image diffusion models, achieving precise spatial control over generated outputs remains challenging. ControlNet addresses this by introducing an auxiliary conditioning module, while ControlNet++…

We make the interprecision transfers explicit in an algorithmic description of iterative refinement and obtain new insights into the algorithm. One example is the classic variant of iterative refinement where the matrix and the…

This paper presents a Lyapunov function based control strategy for networked control systems (NCS) affected by variable time delays and data loss. A special focus is put on the reduction of the computational complexity. A specific buffering…

We show that artificial neural networks with rectifier units as activation functions can exactly represent the piecewise affine function that results from the formulation of model predictive control of linear time-invariant systems. The…

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…

This paper investigates the control of nonlinear systems using a piecewise linear approximation framework. The proposed approach combines a PID controller with locally linearized models obtained by partitioning the nonlinear function into…

The synthesis of robust invariant sets for nonlinear systems has traditionally been hindered by the inherent non convexity and a strict reliance on exact analytical models. This paper presents a purely data-driven framework to compute…

Recent results in control systems and numerical integration literature utilize invariant set theory to lift dynamical systems evolving on nonlinear manifolds to those evolving on vector spaces. We leverage this technique to propose an…

Our work presents a new iterative scheme to approximate the fixed points of nonexpansive mapping. The proposed algorithm is constructed to enhance convergence efficiency while preserving theoretical robustness. Under appropriate assumptions…

Solving nonlinear model predictive control problems in real time is still an important challenge despite of recent advances in computing hardware, optimization algorithms and tailored implementations. This challenge is even greater when…