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Solving optimal control problems to determine a stabilizing controller involves a significant computational effort. Time-varying optimal control provides a remedy by designing a tracking system, given as an ordinary differential equation,…
Many real-world systems are composed of many individual components that interact with one another in a complex pattern to produce diverse behaviors. Understanding how to intervene in these systems to guide behaviors is critically important…
We present a scalable set-valued safety-preserving controller for constrained continuous-time linear time-invariant (LTI) systems subject to additive, unknown but bounded disturbance or uncertainty. The approach relies upon a conservative…
Robust Model Predictive Control (MPC) for nonlinear systems is a problem that poses significant challenges as highlighted by the diversity of approaches proposed in the last decades. Often compromises with respect to computational load,…
Time series data is prevalent in a wide variety of real-world applications and it calls for trustworthy and explainable models for people to understand and fully trust decisions made by AI solutions. We consider the problem of building…
While reachability analysis is one of the most promising approaches for formal verification of dynamic systems, a major disadvantage preventing a more widespread application is the requirement to manually tune algorithm parameters such as…
This paper proposes a model predictive controller for discrete-time linear systems with additive, possibly unbounded, stochastic disturbances and subject to chance constraints. By computing a polytopic probabilistic positively invariant set…
We consider the notion of herdability, a set-based reachability condition, which asks whether the state of a system can be controlled to be element-wise larger than a non-negative threshold. First a number of foundational results on…
We investigate notions of network centrality in terms of the underlying coupling graph of the network, structure of exogenous uncertainties, and communication time-delay. Our focus is on time-delay linear consensus networks, where…
This paper studies the structural controllability of a class of uncertain switched linear systems, where the parameters of subsystems state matrices are either unknown or zero. The structural controllability is a generalization of the…
In this paper, we propose a new self-triggered formulation of Model Predictive Control for continuous-time linear networked control systems. Our control approach, which aims at reducing the number of transmitting control samples to the…
We present an approach to compute stabilizing controllers for continuous-time linear time-invariant systems directly from an input-output trajectory affected by process and measurement noise. The proposed output-feedback design combines (i)…
The vector space of all input-output trajectories of a discrete-time linear time-invariant (LTI) system is spanned by time-shifts of a single measured trajectory, given that the respective input signal is persistently exciting. This fact,…
This paper deals with strong structural controllability of structured networks. A structured network is a family of structured systems (called node systems) that are interconnected by means of a structured interconnection law. The node…
Neural network controllers are currently being proposed for use in many safety-critical tasks. Most analysis methods for neural network control systems assume a fixed control period. In control theory, higher frequency usually improves…
Controlling complex dynamical systems has been a topic of considerable interest in academic circles in recent decades. While existing works have primarily focused on closed-loop control schemes with infinite-time durations, this paper…
Runtime verification encompasses several lightweight techniques for checking whether a system's current execution satisfies a given specification. We focus on runtime verification for Linear Temporal Logic (LTL). Previous work describes…
The purpose of this note is to establish a connection between the problem of reliability (when there is an intermittent control-input channel failure that may occur between actuators, controllers and/or sensors in the system) and the notion…
This paper explores the structural controllability of switched linear continuous-time systems. It first identifies a gap in the proof for a pivotal criterion for the structural controllability of switched linear systems in the literature.…
This paper studies controllability properties of recurrent neural networks. The new contributions are: (1) an extension of the result in the previous paper "Complete controllability of continuous-time recurrent neural networks" (Sontag and…