Related papers: Improved Small-Signal L2 Gain Analysis for Nonline…
This paper presents a novel robust trajectory optimization method for constrained nonlinear dynamical systems subject to unknown bounded disturbances. In particular, we seek optimal control policies that remain robustly feasible with…
Recently, a scalable approach to system analysis and controller synthesis for homogeneous multi-agent systems with Bernoulli distributed packet loss has been proposed. As a key result of that line of work, it was shown how to obtain upper…
Prediction error and maximum likelihood methods are powerful tools for identifying linear dynamical systems and, in particular, enable the joint estimation of model parameters and the Kalman filter used for state estimation. A key…
It is known that input-output approaches based on scaled small-gain theorems with constant $D$-scalings and integral linear constraints are non-conservative for the analysis of some classes of linear positive systems interconnected with…
A boundary feedback stabilisation problem of non-uniform linear hyperbolic systems of balance laws with additive disturbance is discussed. A continuous and a corresponding discrete Lyapunov function is defined. Using an…
A notion of "asymptotic Cauchy gain" for input/output systems, and an associated small-gain principle, are introduced. A Lyapunov-like characterization allows the computation of these gains for state-space systems, and the formulation of…
In this paper, we consider the problem of piecewise affine abstraction of nonlinear systems, i.e., the overapproximation of its nonlinear dynamics by a pair of piecewise affine functions that "includes" the dynamical characteristics of the…
Model instability and poor prediction of long-term behavior are common problems when modeling dynamical systems using nonlinear "black-box" techniques. Direct optimization of the long-term predictions, often called simulation error…
We provide a generalized version of the nonlinear small-gain theorem for the case of more than two coupled input-to-state stable (ISS) systems. For this result the interconnection gains are described in a nonlinear gain matrix and the…
This article analyzes the high-gain prediction approach for nonlinear input-delay systems. The problem is discussed in the light of weighted homogeneity and input-to-state stability. The canonical form for uniformly observable nonlinear…
We prove an L2 recovery bound for a family of sparse estimators defined as minimizers of some empirical loss functions -- which include hinge loss and logistic loss. More precisely, we achieve an upper-bound for coefficients estimation…
We present a new direct adaptive control approach for nonlinear systems with unmatched and matched uncertainties. The method relies on adjusting the adaptation gains of individual unmatched parameters whose adaptation transients would…
We study online control of an unknown nonlinear dynamical system that is approximated by a time-invariant linear system with model misspecification. Our study focuses on robustness, a measure of how much deviation from the assumed linear…
Several concepts on the measure of observability, reachability, and robustness are defined and illustrated for both linear and nonlinear control systems. Defined by using computational dynamic optimization, these concepts are applicable to…
This paper is concerned with the analysis of the $L_{2}$ induced norm of continuous-time LTI systems where the input signals are restricted to be nonnegative. This induced norm is referred to as the $L_{2+}$ induced norm in this paper. It…
We analyze the performance of alternating minimization for loss functions optimized over two variables, where each variable may be restricted to lie in some potentially nonconvex constraint set. This type of setting arises naturally in…
This paper proposes a method to compute lower performance bounds for discrete-time infinite-horizon min-max control problems with input constraints and bounded disturbances. Such bounds can be used as a performance metric for control…
Linear time-periodic (LTP) dynamical systems frequently appear in the modeling of phenomena related to fluid dynamics, electronic circuits, and structural mechanics via linearization centered around known periodic orbits of nonlinear…
This SSFG Lp stability theorem can predict permissible forcing amplitudes below which a finite nonlinear input-output gain can be maintained. Our analysis employs Linear Matrix Inequalities (LMI) and Sum-of-Squares (SOS) as the primary…
This work approaches the problem of computing incremental $\ell_1$ and $\ell_\infty$ gains for discrete-time positive systems in \lure feedback with static memoryless nonlinearities, and regulating the $\ell_\infty$ gain through the design…