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This paper proposes a new framework and several results to quantify the performance of data-driven state-feedback controllers for linear systems against targeted perturbations of the training data. We focus on the case where subsets of the…
Stability enforcement remains a challenge in data-driven control paradigms, where no parametrised model of the system is available. For instance, the system's instabilities can be estimated in order to enforce a closed-loop stability…
We consider the problem of coordinating a collection of switched subsystems under both local and global constraints for safe operation of the system. Although an invariant set can be leveraged to construct a safety-guaranteed controller for…
Mobile robots are ubiquitous. Such vehicles benefit from well-designed and calibrated control algorithms ensuring their task execution under precise uncertainty bounds. Yet, in tasks involving humans in the loop, such as elderly or mobility…
This paper proposes a control strategy consisting of a robust controller and an Echo State Network (ESN) based control law for stabilizing a class of uncertain nonlinear discrete-time systems subject to persistent disturbances. Firstly, the…
A secure two-party computation protocol for running dynamic controllers over secret sharing has recently been proposed. Unlike encrypted control schemes based on homomorphic encryption, this protocol enables operating dynamic controllers…
Safety-critical control is a crucial aspect of modern systems, and Control Barrier Functions (CBFs) have gained popularity as the framework of choice for ensuring safety. However, implementing a CBF requires exact knowledge of the true…
Safely controlling unknown dynamical systems is one of the biggest challenges in the field of control. Oftentimes, an approximate model of a system's dynamics exists which provides beneficial information for the selection of controls.…
A common assumption on the deployment of safeguarding controllers on the digital platform is that high sampling frequency translates to a small violation of safety. This paper investigates and formalizes this assumption through the lens of…
We study the stability properties of a control system composed of a dynamical plant and a feedback controller, the latter generating control signals that can be compromised by a malicious attacker. We consider two classes of feedback…
This work studies the design of safe control policies for large-scale non-linear systems operating in uncertain environments. In such a case, the robust control framework is a principled approach to safety that aims to maximize the…
Formal reasoning on the safety of controller systems interacting with plants is complex because developers need to specify behavior while taking into account perceptual uncertainty. To address this, we propose an automated workflow that…
Maintaining the security of control systems in the presence of integrity attacks is a significant challenge. In literature, several possible attacks against control systems have been formulated including replay, false data injection, and…
Model mismatches prevail in real-world applications. Ensuring safety for systems with uncertain dynamic models is critical. However, existing robust safe controllers may not be realizable when control limits exist. And existing methods use…
Current cyber-physical systems (CPS) are expected to accomplish complex tasks. To achieve this goal, high performance, but unverified controllers (e.g. deep neural network, black-box controllers from third parties) are applied, which makes…
Learning models or control policies from data has become a powerful tool to improve the performance of uncertain systems. While a strong focus has been placed on increasing the amount and quality of data to improve performance, data can…
Modern nonlinear control theory seeks to endow systems with properties such as stability and safety, and has been deployed successfully across various domains. Despite this success, model uncertainty remains a significant challenge in…
The safety of a quantum key distribution system relies on the fact that any eavesdropping attempt on the quantum channel creates errors in the transmission. For a given error rate, the amount of information that may have leaked to the…
Long-range entangled states are vital for quantum information processing and quantum metrology. Preparing such states by combining measurements with unitary gates opened new possibilities for efficient protocols with finite-depth quantum…
Properties of unitary time evolution of quantum systems can be applied to define quantum cryptographic protocols. Dynamics of a qubit can be exploited as a data encryption/decryption procedure by means of timed measurements, implementation…