Derivative-Free Data-Driven Control of Continuous-Time Linear Time-Invariant Systems
Abstract
This paper develops a data-driven stabilization method for continuous-time linear time-invariant systems with theoretical guarantees and no need for signal derivatives. The framework, based on linear matrix inequalities (LMIs), is illustrated in the state-feedback and single-input single-output output-feedback scenarios. Similar to discrete-time approaches, we rely solely on input and state/output measurements. To avoid differentiation, we employ low-pass filters of the available signals that, rather than approximating the derivatives, reconstruct a non-minimal realization of the plant. With access to the filter states and their derivatives, we can solve LMIs derived from sample batches of the available signals to compute a dynamic controller that stabilizes the plant. The effectiveness of the framework is showcased through numerical examples.
Cite
@article{arxiv.2410.24167,
title = {Derivative-Free Data-Driven Control of Continuous-Time Linear Time-Invariant Systems},
author = {Alessandro Bosso and Marco Borghesi and Andrea Iannelli and Giuseppe Notarstefano and Andrew R. Teel},
journal= {arXiv preprint arXiv:2410.24167},
year = {2024}
}