相关论文: Integral Quadratic Constraints: Exact Convergence …

This work provides a framework to compute an upper bound on the robust peak-to-peak gain of discrete-time uncertain linear systems using integral quadratic constraints (IQCs). Such bounds are of particular interest in the computation of…

This paper develops a robust control synthesis method for uncertain linear systems with input saturation in the framework of integral quadratic constraints (IQCs). The system is reformulated as a linear fractional representation (LFR) that…

It's well-known that in a traditional discrete-time autonomous linear systems, the eigenvalues of the weigth (system) matrix solely determine the stability of the system. If the spectral radius of the system matrix is larger than 1, then…

The theory of integral quadratic constraints (IQCs) allows verification of stability and gain-bound properties of systems containing nonlinear or uncertain elements. Gain bounds often imply exponential stability, but it can be challenging…

This paper considers discrete-time linear systems with bounded additive disturbances, and studies the convergence properties of the backward reachable sets of robust controlled invariant sets (RCIS). Under a simple condition, we prove that…

This paper presents a state and state-input constrained variant of the discrete-time iterative Linear Quadratic Regulator (iLQR) algorithm, with linear time-complexity in the number of time steps. The approach is based on a projection of…

In this work, we propose an output-feedback tube-based model predictive control (MPC) scheme for linear systems under dynamic uncertainties that are described via integral quadratic constraints (IQC). By leveraging IQCs, a large class of…

We investigate the stabilizability of linear discrete-time switched systems with singular matrices, focusing on the spectral radius in this context. A new lower bound of the stabilizability radius is proposed, which is applicable to any…

In this work, we propose a tube-based MPC scheme for state- and input-constrained linear systems subject to dynamic uncertainties characterized by dynamic integral quadratic constraints (IQCs). In particular, we extend the framework of…

An input-output model for networks with link uncertainty is developed. The main result presents a set of integral quadratic constraints (IQCs) that collectively imply robust stability of the uncertain network dynamics. The model dependency…

The linear quadratic regulator problem is central in optimal control and was investigated since the very beginning of control theory. Nevertheless, when it includes affine state constraints, it remains very challenging from the classical…

We consider the problem of computing the maximal invariant set of discrete-time linear systems subject to a class of non-convex constraints that admit quadratic relaxations. These non-convex constraints include semialgebraic sets and other…

We study cooperative control dynamics with gradient based forcing terms. As a specific example, we focus on source-seeking dynamics with vehicles embedded in an unknown scalar field with a subset of agents having gradient information. As…

The theory of integral quadratic constraints (IQCs) allows the certification of exponential convergence of interconnected systems containing nonlinear or uncertain elements. In this work, we adapt the IQC theory to study first-order methods…

This paper provides a link between time-domain and frequency-domain stability results in the literature. Specifically, we focus on the comparison between stability results for a feedback interconnection of two nonlinear systems stated in…

Given a finite-dimensional time continuous control system and $\varepsilon>0$, we address the question of the existence of controls that maintain the corresponding state trajectories in the $\varepsilon$-neighborhood of any prescribed path…

In this paper, we consider integral linear constraints and the dissipation inequality with linear supply rates for certain sets of trajectories confined pointwise in time to a convex cone which belongs to a finite-dimensional normed vector…

We study the problem of determining self-sustained oscillations in discrete-time linear time-invariant relay feedback systems. Concretely, we are interested in predicting when such a system admits unimodal oscillations, i.e., when the…

The stability radius for finitely many interconnected linear exponentially stable well-posed systems with respect to static perturbations is studied. If the output space of each system is finite-dimensional, then a lower bound for the…

The goal of Inverse Optimal Control (IOC) is to identify the underlying objective function based on observed optimal trajectories. It provides a powerful framework to model expert's behavior, and a data-driven way to design an objective…