相关论文: Funnel Synthesis via LMI Copositivity Conditions f…

This paper considers the problem of robust stability and stabilization for linear fractional-order system with nonlinear uncertain parameters, with fractional order 0<a<2. A dynamic output feedback controller, with predetermined order, for…

In this paper we present a method for designing a linear time invariant (LTI) state-feedback controller to monotonically track a constant step reference at any desired rate of convergence for any arbitrarily assigned initial condition.…

Quantitative loop invariants are an essential element in the verification of probabilistic programs. Recently, multivariate Lagrange interpolation has been applied to synthesizing polynomial invariants. In this paper, we propose an…

In this paper, the problem of assessing the Finite-Time Stability (FTS) property for general nonlinear systems is considered. First, some necessary and sufficient conditions that guarantee the FTS of general nonlinear systems are provided;…

This paper addresses output reference tracking with prescribed transient performance for unknown nonlinear multi-input multi-output systems with arbitrary relative degree. We propose a novel derivative-free extension of funnel control based…

This paper proposes a funnel control method under time-varying hard and soft output constraints. First, an online funnel planning scheme is designed that generates a constraint consistent funnel, which always respects hard (safety)…

Flow Matching (FM) is a simulation-free method for learning a continuous and invertible flow to interpolate between two distributions, and in particular to generate data from noise. Inspired by the variational nature of the diffusion…

This paper presents conditions for ensuring forward invariance of safe sets under sampled-data system dynamics with piecewise-constant controllers and fixed time-steps. First, we introduce two different metrics to compare the…

New methods are developed for the stabilization of a linear system with general time-varying distributed delays existing at the system's states, inputs and outputs. In contrast to most existing literature where the function of time-varying…

This paper investigates the robust stability and stabilization analysis of interval fractional-order systems with time-varying delay. The stability problem of such systems is solved first, and then using the proposed results a stabilization…

This paper considers the robustness of an uncertain nonlinear system along a finite-horizon trajectory. The uncertain system is modeled as a connection of a nonlinear system and a perturbation. The analysis relies on three ingredients.…

This paper aims to synthesize a reachability controller for an unknown dynamical system. We first learn the unknown system using Gaussian processes and the (probabilistic) guarantee on the learned model. Then we use the funnel-based…

This paper deals with the control synthesis problem for a continuous nonlinear dynamical system under a Linear Temporal Logic (LTL) formula. The proposed solution is a top-down hierarchical decomposition of the control problem involving…

Virtual instrument generation requires maintaining consistent timbre across different pitches and velocities, a challenge that existing note-level models struggle to address. We present FlowSynth, which combines distributional flow matching…

Unlike for Linear Time-Invariant (LTI) systems, for nonlinear systems, there exists no general framework for systematic convex controller design which incorporates performance shaping. The Linear Parameter-Varying (LPV) framework sought to…

This work is concerned with robust filtering of nonlinear sampled-data systems with and without exact discrete-time models. A linear matrix inequality (LMI) based approach is proposed for the design of robust $H_{\infty}$ observers for a…

This paper presents a synthesis approach aiming to guarantee a minimum upper-bound for the time taken to reach a target set of non-zero measure that encompasses the origin, while taking into account uncertainties and input and state…

In this technical note, we generalize the well-known Lyapunov-based stabilizability and detectability tests for linear time-invariant (LTI) systems to the context of discrete-time (DT) polytopic linear parameter-varying (LPV) systems. To do…

We consider linear matrix inequalities (LMIs) $A = A_0 + x_1 A_1 + ... + x_n A_n \succeq 0$ with the $A_i$'s being $m \times m$ symmetric matrices, with entries in a ring $\mathcal{R}$. When $\mathcal{R} = \mathbb{R}$, the feasibility…

This paper presents a system identification framework -- inspired by multi-task learning -- to estimate the dynamics of a given number of linear time-invariant (LTI) systems jointly by leveraging structural similarities across the systems.…