Related papers: Distributionally robust LMI synthesis for LTI syst…
There has been a recent interest in imitation learning methods that are guaranteed to produce a stabilizing control law with respect to a known system. Work in this area has generally considered linear systems and controllers, for which…
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,…
Controller synthesis, including reset controller, feedback controller, and switching logic controller, provides an essential mechanism to guarantee the correctness and reliability of hybrid systems in a correct-by-construction manner.…
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…
We consider the problem of designing distributed controllers to guarantee dissipativity of a networked system comprised of dynamically coupled subsystems. We require that the control synthesis is carried out locally at the subsystem-level,…
This paper presents a funnel synthesis algorithm for computing controlled invariant sets and feedback control gains around a given nominal trajectory for dynamical systems with locally Lipschitz nonlinearities and bounded disturbances. The…
In this paper, we present a provably correct controller synthesis approach for switched stochastic control systems with metric temporal logic (MTL) specifications with provable probabilistic guarantees. We first present the stochastic…
This paper addresses the synthesis of reactive systems that enforce hard constraints while optimizing for quality-based soft constraints. We build on recent advancements in combining reactive synthesis with example-based guidance to handle…
End-to-end engineering design pipelines, in which designs are evaluated using concurrently defined optimal controllers, are becoming increasingly common in practice. To discover designs that perform well even under the misspecification of…
In this paper, a modified robust model predictive control scheme is proposed for linear parametric variable (LPV) and hybrid systems based on a quasi-min-max algorithm. Using a new cost function resulted in reduced unwanted disturbances…
The principal task to control dynamical systems is to ensure their stability. When the system is unknown, robust approaches are promising since they aim to stabilize a large set of plausible systems simultaneously. We study linear…
The control synthesis of a dynamic system subject to a signal temporal logic (STL) specification is commonly formulated as a mixed-integer linear/convex programming (MILP/MICP) problem. Solving such a problem is computationally expensive…
This paper presents a characterization of distributed controllers subject to delay constraints induced by a strongly connected communication graph that achieve a prescribed closed loop $\mathcal{H}_\infty$ norm. Inspired by the solution to…
We consider the synthesis of distributed implementations for specifications in parameterized temporal logics such as PROMPT-LTL, which extends LTL by temporal operators equipped with parameters that bound their scope. For single process…
Linear matrix inequalities (LMIs) have played a central role in certifying stability, robustness, and forward invariance of dynamical systems. Despite rapid development in learning-based methods for control design and certificate synthesis,…
We present a novel framework for transferring the knowledge from one system (source) to design a stabilizing controller for a second system (target). Our motivation stems from the hypothesis that abundant data can be collected from the…
The control of constrained systems using model predictive control (MPC) becomes more challenging when full state information is not available and when the nominal system model and measurements are corrupted by noise. Since these conditions…
In this paper, a new method of H_infinity observer design for Lipschitz nonlinear systems is proposed in the form of an LMI optimization problem. The proposed observer has guaranteed decay rate (exponential convergence) and is robust…
We show that designing sparse $H_\infty$ controllers, in a discrete (LTI) setting, is easy when the controller is assumed to be an FIR filter. In this case, the problem reduces to a static output feedback problem with equality constraints.…
Output-based controllers are known to be fragile with respect to model uncertainties. The standard $\mathcal{H}_{\infty}$-control theory provides a general approach to robust controller design based on the solution of the…