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math.OC2026
MPC and System Identification with Differentiable Physics: Fluid System and Particle Beam Control
Alan Williams, Alp Sunol
We consider the problem of simultaneous control and parameter estimation when the model is available only as a differentiable physics simulator. We propose a receding-horizon contr…
math.OC2026
Nested Extremum Seeking Converges to Stackelberg Equilibrium
Brad Ratto, Alan Williams, Miroslav Krstić +2
The nested Extremum Seeking (nES) algorithm is a model-free optimization method that has been shown to converge to a neighborhood of a Nash equilibrium. In this work, we demonstrat…