11 citations · 25 across the 8 of their papers we have counts for
8 papers
dkpy: Robust Control with Structured Uncertainty in Python
Timothy Everett Adams, Steven Dahdah, James Richard Forbes
Models used for control design are, to some degree, uncertain. Model uncertainty must be accounted for to ensure the robustness of the closed-loop system. -analysis and -synt…
Discretization of Linear Systems using the Matrix Exponential
Steven Dahdah, James Richard Forbes
Discretizing continuous-time linear systems typically requires numerical integration. This document presents a convenient method for discretizing the dynamics, input, and process n…
Uncertainty Modelling and Robust Observer Synthesis using the Koopman Operator
Steven Dahdah, James Richard Forbes
This paper proposes a robust nonlinear observer synthesis method for a population of systems modelled using the Koopman operator. The Koopman operator allows nonlinear systems to b…
Forward-Backward Extended DMD with an Asymptotic Stability Constraint
Louis Lortie, Steven Dahdah, James Richard Forbes
This paper presents a data-driven method to identify an asymptotically stable Koopman system from noisy data. In particular, the proposed approach combines approximations of the sy…
Synthesizing Control Laws from Data using Sum-of-Squares Optimization
Jason J. Bramburger, Steven Dahdah, James Richard Forbes
The control Lyapunov function (CLF) approach to nonlinear control design is well established. Moreover, when the plant is control affine and polynomial, sum-of-squares (SOS) optimi…
Closed-Loop Koopman Operator Approximation
Steven Dahdah, James Richard Forbes
This paper proposes a method to identify a Koopman model of a feedback-controlled system given a known controller. The Koopman operator allows a nonlinear system to be rewritten as…
System Norm Regularization Methods for Koopman Operator Approximation
Steven Dahdah, James Richard Forbes
Approximating the Koopman operator from data is numerically challenging when many lifting functions are considered. Even low-dimensional systems can yield unstable or ill-condition…
Linear Matrix Inequality Approaches to Koopman Operator Approximation
Steven Dahdah, James Richard Forbes
The regression problem associated with finding a matrix approximation of the Koopman operator from data is considered. The regression problem is formulated as a convex optimization…